Abstract: The drilling vehicle comprises a chassis movable over ground, a tool arm, a drilling tool operatively mounted to the tool arm and defining a drilling extremity and a selectively powered tool arm actuator assembly attaching the tool arm to the chassis. The tool arm support comprises: a first tool arm actuator allowing rotational displacement of the tool arm about a vertical axis; a second tool arm actuator allowing linear translation of the tool arm along a first horizontal axis between two limit positions; a third tool arm actuator allowing linear translation of the tool arm along a second horizontal axis which is perpendicular to the first horizontal axis, between two limit positions; a fourth tool arm actuator allowing rotational displacement of the tool arm about a third horizontal axis; and a fifth tool arm actuator allowing pivotal displacement of the tool arm about a fourth horizontal axis which is perpendicular to the third horizontal axis.