Unmanned Ground Vehicle (UG thesis)

VISVESVARAYA TECHNOLOGICAL UNIVERSITY Belgaum-590018, Karnataka

A

PROJECT REPORT ON “UNMANNED GROUND VEHICLE”

A dissertation Submitted in partial fulfillment of the requirement for the degree of

Bachelor of Engineering in

ELECTRONICS AND COMMUNICATION ENGINEERING from

VISVESVARAYA TECHNOLOGICAL UNIVERSITY Submitted

by

S.MITHILEYSH 1RG07EC035 Guided by

External Guide Internal Guide L.BHUVANESHWARI PROF.BALACHANDRA K.V ALPHA SOLUTIONS M.E HOD, ECE

Department of Electronics and Communication

RAJIV GANDHI INSTITUTE OF TECHNOLOGY Cholanagar, Hebbal, Bengaluru-560032

2010-2011

RAJIV GANDHI INSTITUTE OF TECHNOLOGY Cholanagar, Hebbal, Bengaluru-560032

Department of Electronics and Communication

CERTIFICATE

Certified that the Project work entitled “ UNMANNED GROUND VEHICLE ” has been carried out by

S.MITHILEYSH (1RG07EC035)

bonafide student of RAJIV GANDHI INSTITUTE OF TECHNOLOGY in partial

fulfillment for the award of Bachelor of Engineering in Electronics and Communication of

the VISVESVARAYA TECHNOLOGICAL UNIVERSITY, BELGAUM during the year

2010 – 2011. It is certified that all corrections/suggestions indicated for Internal Assessment

have been incorporated in the Report deposited in the departmental library. The project report

has been approved as it satisfies the academic requirements in respect of Project work

prescribed for the said Degree.

Signature of guide Signature of H.O.D Signature of principal Prof. BALACHANDRA K.V Prof.BALACHANDRA K.V Dr.M.JAYAPRASAD M.E M.E Ph.D HOD, ECE

External Viva

Name of the Examiner Signature with date

ACKNOWLEDGEMENT

The satisfaction that the successful completion of the task would be incomplete without

mentioning all those whose guidance and encouragement crowns the effort with success.

We sincerely bow which reverence to the sanctum of “RAJIV GANDHI INSTITUTE OF

TECHNOLOGY” for giving us an opportunity to perceive our degree course that is B.E in

E.C.E.

We are forever thankful to our Honorable chairman Dr. P. SADASIVAN, Managing director

Dr. JUNO.S, Director Administrator Sri. S. SUNIL, Secretary S. BAJORE and Director

Mrs. SIDA ARUN for their constant supervision to make sure a student friendly and

educational atmosphere was maintained throughout our study in the college.

We express our wholehearted gratitude to our respected principal Dr. M. JAYAPRASAD

Ph.D for having created such pleasant environment to study and also guiding us towards

being good citizens.

We sincerely acknowledge the encouragement, timely help and guidance given to us by our

beloved Guide and H.O.D Prof. K.V.BALACHANDRA M.E to complete the project within

the stipulated time successfully.

We express our gratitude to our beloved seminar coordinator Mr.SOMASHEKHAR.G.C

B.E, M.Tech (Ph.D), for the encouragement, timely help and guidance given to me for the

completion of project within the stipulated time successfully.

We also thank our Department lecturers who have helped us in clearing our doubts with

patience whenever we have approached them.

Finally, we thank our Parents and friends who had been a source of inspiration and have also

motivated us to take this project and deliver it successfully.

RAJIV GANDHI INSTITUTE OF TECHNOLGY Cholanagar, Hebbal, Bengaluru-560032

2010-2011 Department of Electronics and Communication

Engineering

DECLARATION We hereby declare that the entire work embodied in this dissertation has been carried out by us and no part of it has been submitted for any degree or diploma of any institution previously. Name of Student USN Signature S. MITHILEYSH 1RG07EC035

Place: Bangalore Date:

ABSTRACT

Some of the most prominent problems facing the world today are Terrorism and Insurgency.

Governments and scientists across the globe are working day and night in order to bring

these problems under control. Billions of dollars are spent by nations for the research of new

defense systems which are capable of safeguarding citizens from terrorist threats.

Nowadays with major advancements in the field of vehicle automation, several dangerous

and crucial counter terrorist operations are being handled by sophisticated machines which

are not only more efficient but are also responsible for saving several human lives.

Our project “Unmanned Ground Vehicle” is built to undertake missions like border patrol,

surveillance and in active combat both as a standalone unit (automatic) as well as in co-

ordination with human soldiers (manual). It is a prototype illustrating the ever expanding

need for sophisticated technology and precision driven vehicles catering to the present day

needs for a first line of defense. A person from a remote place can comfortably control the

motion of the robot wirelessly and in situations where manual control is not prudent, the

vehicle is capable of reaching the pre-programmed destination on its own.

This defense system of ours has two units- one is the control unit (to control mobility) and

the other is the motion tracking unit. Both these units have two modes- Automatic and

Manual. This robot would be armed with an automatic weapon mounted onto a turret and a

remote operator would be getting a live video feed from the camera to help him manually

control both the above mentioned units of the rover. The rover is also capable of

automatically tracking movement of objects in its range of vision.

The manual modes of the rover are controlled by a human operator and live video is fed back

to the base station. The turret will follow the movement of a joystick or a mouse. There is an

additional ARMCON controller which helps the soldier on war field to control the rover

using wireless modem. The UGV will be controlled by hand gestures which are tracked by

the IMU (Inertial Measurement Unit).

In the automatic mode, the turret uses Image Processing techniques to track motion. The

vehicle has GPS navigation and commands to navigate can be given wirelessly. Additionally,

infrared sensors aid in obstacle detection and path mapping.

There is one onboard computer, which receives command from command center control and

issues commands to the onboard microcontroller for controlling the stepper motors, servo

motors, wireless data reception, GPS navigation, and obstacle detection. The command

center control computer allows the remote user to see the direct video stream and control the

various features of the rover, using a GUI.

TABLE OF CONTENTS

CHAPTER 1: INTRODUCTION 1

1.1 Tele-operated 1

1.2 Autonomous 1

CHAPTER 2: MOTIVATION 3

2.1 Foster-Miller Talon Unit 3

2.2 DRDO Daksh 5

CHAPTER 3: GENERAL BLOCK DIAGRAM 6

3.1 Block Diagram 6

3.2 Block Diagram explanation 7

CHAPTER 4: HARDWARE COMPONENTS 8

4.1 Arduino Microcontroller 8

4.2 Servo Motors 11

4.3 DC motors 13

4.4 Inertial Measurement Unit 13

4.5 Zigbee modem 15

4.6 78xx Voltage Regulator 16

4.7 Electromagnetic compass 17

4.8 GPS Receiver system 18

4.9 H-bridge 20

4.10 Lithium Polymer battery 21

4.11 Webcam 22

4.12 2 x Relay board 23

4.13 IR sensors 25

4.14 NI-CD battery 26

CHAPTER 5: SOFTWARE 27

5.1 Processing 27

5.2 Teamviewer 29

5.3 Arduino 30

CHAPTER 6: UGV OPERATION 32

6.1 Command Centre Control mode 33

6.2 Autonomous mode 35

6.3 Armcon mode 37

6.4 Raptor mode 39

CHAPTER 7: APPLICATIONS 41

CHAPTER 8: LIMITATIONS 42

CHAPTER 9: RESULT 43

CHAPTER 10: CONCLUSION 43

BIBLIOGRAPHY 44

APPENDIX

PRESENTATION SNAPSHOTS

LIST OF FIGURES

2.1.1 SWORD WITH AN M249 SAW 4

2.1.2 FOSTER MILLER TALON UNITS 4

2.2.1 DRDO DAKSH 5

3.1.1 GENERAL BLOCK DIAGRAM OF UGV 6

4.1.1 ARDUINO MICROCONTROLLER 8

4.1.2 PIN DIAGRAM FOR ATMEGA 328P 9

4.2.1 RC SERVO MECHANISM 12

4.3.1 DC MOTOR AND WORKING 13

4.4.1 INERTIAL MEASUREMENT UNIT 14

4.5.1 XBEE PRO SERIES 2 16

4.6.1 7805 VOLTAGE REGULATOR 16

4.7.1 HMC 6352 ELECTRONIC COMPASS 18

4.8.1 GPS RECIEVER 248 18

4.9.1 H-BRIDGE GENERAL DIAGRAM 21

4.9.2 L293D MOTOR DRIVING IC 21

4.10.1 A TYPICAL 5 AMP Li-Po BATTERY 22

4.12.1 LOGITECH C100 WEBCAM 23

4.13.1 RELAY INTERNAL DIAGRAM 24

4.14.1 IR SENSORS 25

4.15.1 NI-CD BATTERY 26

5.1.1 PROCESSING PROGAM WINDOW AND DISPLAY SCREEN 27

6.1.1 BLOCK DIAGRAM FOR COMMAND CENTRE CONTROL MODE 33

6.1.2 FLOW CHART FOR THE COMMAND CENTRE CONTROL MODE 34

6.2.1 BLOCK DIAGRAM FOR THE AUTONOMOUS MODE 35

6.2.2 FLOW CHART FOR THE AUTONOMOUS MODE 36

6.3.1 BLOCK DIAGRAM FOR ARMCON MODE 37

6.3.2 FLOW CHART FOR THE ARMCON MODE 38

6.4.1 BLOCK DIAGRAM FOR THE RAPTOR MODE 39

6.4.2 FLOW CHART FOR THE RAPTOR MODE 40

UNMANNED GROUND VEHICLE R.G.I.T

DEPARTMENT OF ELECTRONICS AND COMMUNICATION 1

CHAPTER 1: INTRODUCTION

An unmanned ground vehicle (UGV) is a military robot used to augment the soldier’s

capability. This type of robot is generally capable of operating outdoors and over a wide

variety of terrain, functioning in place of humans. UGVs have counterparts in aerial warfare

(unmanned aerial vehicle) and naval warfare (remotely operated underwater vehicles).

Unmanned robotics is actively being developed for both civilian and military use to perform

dull, dirty, and dangerous activities.

There are two general classes of unmanned ground vehicles:

1. Tele-operated

2. Autonomous.

1.1 Tele-operated:

A Tele-operated UGV is a vehicle that is controlled by a human operator at a remote location

via a communications link. All cognitive processes are provided by the operator based upon

sensory feedback from either line-of-sight visual observation or remote sensory input such as

video cameras. A basic example of the principles of Tele-operation would be a toy remote

control car. Each of the vehicles is unmanned and controlled at a distance via a wired or

wireless connection while the user provides all control based upon observed performance of

the vehicle.

There are a wide variety of Tele-operated UGVs in use today. Predominantly these vehicles

are used to replace humans in hazardous situations. Examples are explosives and bomb

disabling vehicles.

1.2 Autonomous:



An autonomous UGV is essentially an autonomous robot but is specifically a vehicle that

operates on the surface of the ground. A fully autonomous robot in the real world has

the ability to:

• Gain information about the environment.

• Work for extended durations without human intervention.

• Travel from point A to point B, without human navigation assistance.

• Avoid situations that are harmful to people, property or itself, unless those are part of

its design specifications

• Repair itself without outside assistance.

• Detect objects of interest such as people and vehicles.

A robot may also be able to learn autonomously. Autonomous learning includes the ability

to:

• Learn or gain new capabilities without outside assistance.

• Adjust strategies based on the surroundings.

• Adapt to surroundings without outside assistance.

Autonomous robots still require regular maintenance, as with all machines.



CHAPTER 2: MOTIVATION

2.1 Foster-Miller TALON :

The Foster-Miller TALON robot is a small, tracked military robot designed for missions

ranging from reconnaissance to combat. Over 3000 TALON robots have been deployed to

combat theaters. Foster-Miller claims the TALON is one of the fastest robots in production,

one that can travel through sand, water, and snow (up to 100 feet deep) as well as climb

stairs.

The TALON transmits in color, black and white, infrared, and/or night vision to its operator,

who may be up to 1,000 m away. It can run off lithium-ion batteries for a maximum of 7

days on standby independently before needing recharging. It has an 8.5 hour battery life at

normal operating speeds, 2 standard lead batteries providing 2 hours each and 1 optional

Lithium Ion providing an additional 4.5 hours. It can also withstand repeated

decontamination allowing it to work for long periods of time in contaminated areas.

Regular (IED/EOD) TALON: Carries sensors and a robotic manipulator, which is used by

the U.S. Military for explosive ordnance disposal and disarming improvised explosive

devices.

Special Operations TALON (SOTAL): Does not have the robotic arm manipulator but carries

day/night color cameras and listening devices; lighter due to the absence of the arm, for

reconnaissance missions.

SWORDS TALON: For small arms combat and guard roles.

HAZMAT TALON: Uses chemical, gas, temperature, and radiation sensors that are

displayed in real time to the user on a hand-held display unit. It is now being tested by the US

Armament Research Development and Engineering Center ARDEC.

SWORDS or the Special Weapons Observation Reconnaissance Detection System is a

weaponized version being developed by Foster-Miller for the US Army. The robot is



composed of a weapons system mounted on the standard TALON chassis. The current price

of one unit is $230,000; however, Foster-Miller claims that when it enters mass production

the price may drop to between $150,000 and $180,000. Foster-Miller points out that in

comparison, to train a US soldier to a basic level of expertise with BCT and/or AIT would

cost $50,000 to $100,000.

SWORDS units have demonstrated the ability to shoot precisely. It is not autonomous, but

instead has to be controlled by a soldier using a small console to remotely direct the device

and fire its weapons. Foster-Miller is currently at work on a "Game Boy" style controller

with virtual-reality goggles for future operators.

In 2007, three SWORDS units were deployed to Iraq. Each unit is armed with a M249

machine gun. This deployment marks the first time that robots are carrying guns into battle;

however, their weapons have remained unused as the Army has never given the go-ahead for

using them. The Army stopped funding the SWORDS robots after deploying the initial three

robots. Foster-Miller is working on a successor: the Modular Advanced Armed Robotic

System (MAARS)

Fig 2.1.1: The SWORDS system fitted Fig 2.1.2: Foster-Miller TALON SWORDS

with an M249 SAW



2.2 DRDO Daksh:

Daksh is an electrically powered and remotely controlled robot used for locating, handling

and destroying hazardous objects safely. Daksh speaks for the ingenuity of the R&DE (E). It

is a battery-operated robot on wheels and its primary role is to recover improvised explosive

devices (IEDs). It locates IEDs with an X-ray machine, picks them up with a gripper-arm and

defuses them with a jet of water. It has a shotgun, which can break open locked doors, and it

can scan cars for explosives. Daksh can also climb staircases, negotiate steep slopes, navigate

narrow corridors and tow vehicles. Alok Mukherjee, a scientist, said: "With a master control

station (MCS), it can be remotely controlled over a range of 500 m in line of sight or within

buildings. Ninety per cent of the robot’s components are indigenous.

Fig 2.2.1: Daksh - Remotely Operated Vehicle developed by DRDO



CHAPTER 3: GENERAL BLOCK DIAGRAM

3.1 Block Diagram

Fig 3.1 GENERAL BLOCK DIAGRAM OF THE UNMANNED GROUND VEHICLE



3.2 Block Diagram Explanation:

Base station: It’s a computer system located at a remote place away from the UGV which

controls it using keyboard, mouse for mode control and movement and live video feedback

for monitoring the environment.

Keyboard and mouse: They are used to handle the motion of the UGV and the movement of

the turret for wide angle vision.

3G Internet: Communication medium for system to system interaction so as to control the

UGV wirelessly.

On-board system: A computer system placed on the UGV itself which receives the

commands and delivers it to the control Unit.

Camera: An image acquiring device which provides the video required for UGV vision.

Control Unit: It’s the Arduino microcontroller which receives signals from the user and

other sensors and performs tasks such as turret movement and UGV movement.

GPS Unit: A navigation system used in the autonomous mode for obtaining location co-

ordinates.

Compass: To acquire the direction to which the UGV is facing.

IR sensors: Infrared Sensors used in the obstacle avoidance mechanism incorporated into the

autonomous mode.

Servo motor: they are used to control the direction turn of the UGV and the 2 axis

movement of the turret.

DC motor: These are used mainly for the UGV movement.

Li-PO Battery and voltage regulator: the power source supplying the entire UGV with

voltage regulation to provide optimum power ratings.

Wireless modem: Zigbee to provide wireless data transfer for the ArmCon mode.

IMU: An inertial measurement unit which tracks the orientation of the hand used for hand

Gesture control (ArmCon mode).

Ni-Cd battery: Used for powering up the Control Unit, Zigbee and the IMU.



CHAPTER 4: HARDWARE COMPONENTS

• ARDUINO MICROCONTROLLER

• SERVO MOTOR

• DC MOTOR

• INERTIAL MEASUREMENT UNIT

• ZIGBEE RADIO MODEM

• 78XX IC’S

• ELECTROMAGNETIC COMPASS MODULE

• GPS RECIEVER SYSTEM

• H-BRIDGE

• LITHIUM POLYMER BATTERY

• FTDI CHIP

• WEBCAM

• 2X RELAY BOARD

• IR SENSORS

• NICKEL-CADMIUM BATTERY

4.1 Arduino Microcontroller :

Fig 4.1.1: Arduino Uno Microcontroller (ATMEGA-328P)



ARDUINO: “Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use

hardware and software.” The open-source Arduino environment makes it easy to write code

and upload it to the i/o board. It runs on Windows, Mac OS X, and Linux. The environment

is written in Java and based on Processing, avr-gcc, and other open source software.

ATMEGA 328P

Fig. 4.1.2 PIN DIAGRAM OF ATMEGA 328P

PIN DESCRIPTIONS

1. VCC- Digital supply voltage.

2. GND- Ground.

3. Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2

Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit).The Port B output buffers have symmetrical drive characteristics with both high sink

and source capability. As inputs, Port B pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port B pins are tri-stated when a reset

condition becomes active, even if the clock is not running.

Depending on the clock selection fuse settings, PB6 can be used as input to the inverting

Oscillator amplifier and input to the internal clock operating circuit.



Depending on the clock selection fuse settings, PB7 can be used as output from the

inverting Oscillator amplifier.

If the Internal Calibrated RC Oscillator is used as chip clock source, PB7. . .6 is

used as TOSC2...1 input for the Asynchronous Timer/Counter2 if the AS2 bit in ASSR is

set.

4. Port C (PC5:0)

Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit). The PC5...0 output buffers have symmetrical drive characteristics with both high

sink and source capability. As inputs, Port C pins that are externally pulled low will

source current if the pull-up resistors are activated. The Port C pins are tri-stated when a

reset condition becomes active, even if the clock is not running.

5. PC6/RESET

If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the electrical

characteristics of PC6 differ from those of the other pins of Port C.

If the RSTDISBL Fuse is unprogrammed, PC6 is used as a Reset input. A low level on

this pin for longer than the minimum pulse length will generate a Reset, even if the clock

is not running.Shorter pulses are not guaranteed to generate a Reset.

6. Port D (PD7:0)

Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each

bit). The Port D output buffers have symmetrical drive characteristics with both high sink

and source capability. As inputs, Port D pins that are externally pulled low will source

current if the pull-up resistors are activated. The Port D pins are tri-stated when a reset

condition becomes active, even if the clock is not running.

7. AVCC

AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It should be

externally connected to VCC, even if the ADC is not used. If the ADC is used, it should

be connected to VCC through a low-pass filter.

8. AREF- AREF is the analog reference pin for the A/D Converter.

9. ADC7:6

In the TQFP and QFN/MLF package, ADC7:6 serve as analog inputs to the A/D

converter.



These pins are powered from the analog supply and serve as 10-bit ADC channels.

4.2 Servo Motors: A servomechanism, or servo, is an automatic device that uses error-sensing negative

feedback to correct the performance of a mechanism. The term correctly applies only to

systems where the feedback or error-correction signals help control mechanical position or

other parameters. For example, the car's cruise control uses closed loop feedback, which

classifies it as a servomechanism.

RC servos are hobbyist remote control devices servos typically employed in radio-controlled

models, where they are used to provide actuation for various mechanical systems. Due to

their affordability, reliability, and simplicity of control by microprocessors, RC servos are

often used in small-scale robotics applications.

RC servos are composed of an electric motor mechanically linked to a potentiometer. A

standard RC receiver sends Pulse-width modulation (PWM) signals to the servo. The

electronics inside the servo translate the width of the pulse into a position. When the servo is

commanded to rotate, the motor is powered until the potentiometer reaches the value

corresponding to the commanded position.

RC servos use a three-pin 0.1" spacing jack (female) which mates to standard 0.025" square

pins (which should be gold-plated, incidentally). The most common order is Signal,

+voltage, ground. The standard voltage is 6VDC, however 4.8V and 12V has also been seen

for a few servos. The control signal is a digital PWM signal with a 50Hz frame rate. Within

each 20ms timeframe, an active-high digital pulse controls the position. The pulse nominally

ranges from 1.0ms to 2.0ms with 1.5ms always being center of range. Pulse widths outside

this range can be used for "over travel" -moving the servo beyond its normal range. This

PWM signal is sometimes (incorrectly) called Pulse Position Modulation (PPM).

The servo is controlled by three wires: ground, power, and control. The servo will move

based on the pulses sent over the control wire, which set the angle of the actuator arm. The



servo expects a pulse every 20 ms in order to gain correct information about the angle. The

width of the servo pulse dictates the range of the servo's angular motion.

A servo pulse of 1.5 ms width will typically set the servo to its "neutral" position or 45°, a

pulse of 1.25 ms could set it to 0° and a pulse of 1.75 ms to 90°. The physical limits and

timings of the servo hardware varies between brands and models, but a general servo's

angular motion will travel somewhere in the range of 90° - 120° and the neutral position is

almost always at 1.5 ms. This is the "standard pulse servo mode" used by all hobby analog

servos.

RC servos are usually powered by the receiver which in turn is powered by battery packs or

an Electronic speed controller (ESC) with an integrated or a separate Battery eliminator

circuit (BEC). Common battery packs are either Ni-Cd, NiMH or lithium-ion polymer

battery (Li-Po) type. Voltage ratings vary, but most receivers are operated at 5 V or 6 V.

Fig. 4.2.1 Small R/C servo mechanism

1. Electric motor 3. Reduction gear

2. Position feedback potentiometer 4. Actuator arm



4.3 D.C Motors:

An electric motor converts electrical energy into mechanical energy. Most electric motors

operate through interacting magnetic fields and current-carrying conductors to generate

force, although electrostatic motors use electrostatic forces.

Electric motors are found in applications as diverse as industrial fans, blowers and pumps,

machine tools, household appliances, power tools, and disk drives. They may be powered by

direct (e.g., a battery powered portable device or motor vehicle), or by alternating current

from a central electrical distribution grid.

Brushless DC motors use a rotating permanent magnet in the rotor, and stationary electrical

magnets on the motor housing. A motor controller converts DC to AC. This design is simpler

than that of brushed motors because it eliminates the complication of transferring power from

outside the motor to the spinning rotor. Advantages of brushless motors include long life

span, little or no maintenance, and high efficiency. Disadvantages include high initial cost,

and more complicated motor speed controllers.

Fig 4.3.1: D.C Motor and Working

4.4 Inertial Measurement Unit:

An inertial measurement unit, or IMU, is an electronic device that measures and

reports on a craft's velocity, orientation, and gravitational forces, using a combination of



accelerometers and gyroscopes. IMUs are typically used to maneuver aircraft, including

UAVs, among many others, and spacecraft, including shuttles, satellites and landers.

The IMU is the main component of inertial navigation systems used in aircraft, spacecraft,

watercraft and guided missiles among others. In this capacity, the data collected from the

Fig 4.4.1: Inertial Measurement Unit (ADXL-335)

IMU's sensors allow a computer to track a craft's position, using a method known as dead

reckoning.

An IMU works by detecting the current rate of acceleration using one or more

accelerometers, and detects changes in rotational attributes like pitch, roll and yaw using one

or more gyroscopes.

IMUs can, besides navigational purposes, serve as orientation sensors in the human field of

motion. They are frequently used for sports technology (technique training), and animation

applications. They are a competing technology for use in motion capture technology.

The ADXL335 is a small, thin, low power, complete 3-axis accelerometer with signal

conditioned voltage outputs. The product measures acceleration with a minimum full-scale

range of ±3 g. It can measure the static acceleration of gravity in tilt-sensing applications, as

well as dynamic acceleration resulting from motion, shock, or vibration. The user selects the

bandwidth of the accelerometer using the CX, CY, and CZ capacitors at the XOUT, YOUT,

and ZOUT pins. Bandwidths can be selected to suit the application, with a range of 0.5 Hz to

1600 Hz for the X and Y axes, and a range of 0.5 Hz to 550 Hz for the Z axis.



THEORY OF OPERATION:-

The ADXL335 is a complete 3-axis acceleration measurement system. The ADXL335 has a

measurement range of ±3 g minimum. It contains a poly silicon surface-micro machined

sensor and signal conditioning circuitry to implement open-loop acceleration measurement

architecture. The output signals are analog voltages that are proportional to acceleration. The

accelerometer can measure the static acceleration of gravity in tilt-sensing applications as

well as dynamic acceleration resulting from motion, shock, or vibration.

The sensor is a polysilicon surface-micro machined structure built on top of a silicon wafer.

Polysilicon springs suspend the structure over the surface of the wafer and provide a

resistance against acceleration forces. Deflection of the structure is measured using a

differential capacitor that consists of independent fixed plates and plates attached to the

moving mass. The fixed plates are driven by 180° out-of-phase square waves. Acceleration

Deflects the moving mass and unbalances the differential capacitor resulting in a sensor

output whose amplitude is proportional to acceleration. Phase-sensitive demodulation

techniques are then used to determine the magnitude and direction of the acceleration. The

demodulator output is amplified and brought off-chip through a 32 kΩ resistor. The user then

sets the signal bandwidth of the device by adding a capacitor. This filtering improves

measurement resolution and helps prevent aliasing.

4.5 ZIGBEE RADIO MODEM (XBEE PRO S-2):

ZigBee is a specification for a suite of high level communication protocols using small, low-

power digital radios based on the IEEE 802.15.4-2003 standard for Low-Rate Wireless

Personal Area Networks (LR-WPANs), such as wireless light switches with lamps, electrical

meters with in-home-displays, consumer electronics equipment via short-range radio needing

low rates of data transfer. ZigBee is targeted at radio-frequency (RF) applications that require

a low data rate, long battery life, and secure networking. ZigBee is a low-cost, low-

power, wireless mesh networking standard. First, the low cost allows the technology to be

widely deployed in wireless control and monitoring applications. Second, the low power-



usage allows longer life with smaller batteries. Third, the mesh networking provides high

reliability and more extensive range.

Fig 4.5.1: XBEE PRO SERIES 2

ZigBee protocols are intended for use in embedded applications requiring low data rates and

low power consumption. ZigBee's current focus is to define a general-purpose, inexpensive,

self-organizing mesh network that can be used for industrial control, embedded sensing,

medical data collection, smoke and intruder warning, building automation, home automation.

Typical application areas include

Home Entertainment and Control — Smart lighting, advanced temperature control,

safety and security, movies and music

Wireless Sensor Networks' — starting with individual sensors like Telosb/Tmote and Iris

from Memsic.

4.6 VOLTAGE REGULATORS:

4.6.1 A typical 7805 Voltage regulator



A voltage regulator is an electrical regulator designed to automatically maintain a constant

voltage level. A voltage regulator may be a simple "feed-forward" design or may

include negative feedback control loops. Depending on the design, it may be used to regulate

one or more AC or DC voltages. Here the capacitors are used for input and output filtering

purposes. We have used other voltage rating regulators as mentioned following the same

above structure (7812, 7809, and 7806).

Electronic voltage regulators are found in devices such as computer power supplies where

they stabilize the DC voltages used by the processor and other elements. In

automobile alternators and central power station generator plants, voltage regulators control

the output of the plant. In an electric power distribution system, voltage regulators may be

installed at a substation or along distribution lines so that all customers receive steady voltage

independent of how much power is drawn from the line.

4.7 ELECTROMAGNETIC COMPASS MODULE (HMC 6352):-

A compass is a navigational instrument for determining direction relative to the Earth's

magnetic poles. It consists of a magnetized pointer (usually marked on the North end) free to

align itself with Earth's magnetic field. The compass greatly improved the safety and

efficiency of travel, especially ocean travel. A compass can be used to calculate heading,

used with a sextant to calculate latitude, and with a marine chronometer to calculate

longitude. It thus provides a much improved navigational capability that has only been

recently supplanted by modern devices such as the Global Positioning System (GPS). A

compass is any magnetically sensitive device capable of indicating the direction of the

magnetic north of a planet's magnetosphere.

The Honeywell HMC6352 is a fully integrated compass module that combines 2-axis

magneto-resistive sensors with the required analog and digital support circuits, and

algorithms for heading computation. By combining the sensor elements, processing

electronics, and firmware in to a 6.5mm by 6.5mm by 1.5mm LCC package.



4.7.1 A HMC 6352 ELECTRONIC COMPASS

4.8 GPS RECIEVER:-

The Global Positioning System (GPS) is a space-based global navigation satellite system

(GNSS) that provides location and time information in all weather, anywhere on or near the

Earth, where there is an unobstructed line of sight to four or more GPS satellites. It is

maintained by the United States government and is freely accessible by anyone with a GPS

receiver.

GPS was created and realized by the U.S. Department of Defense (USDOD) and was

originally run with 24 satellites. It became fully operational in 1994.

Fig 4.8.1 A GPS 248 RECEIVER

A GPS receiver calculates its position by precisely timing the signals sent by

GPS satellites high above the Earth. Each satellite continually transmits messages that

include

the time the message was transmitted



precise orbital information (the ephemeris)

The general system health and rough orbits of all GPS satellites (the almanac).

The receiver uses the messages it receives to determine the transit time of each message and

computes the distance to each satellite. These distances along with the satellites' locations are

used with the possible aid of trilateration, depending on which algorithm is used, to compute

the position of the receiver. This position is then displayed, perhaps with a moving map

display or latitude and longitude; elevation information may be included. Many GPS units

show derived information such as direction and speed, calculated from position changes.

Three satellites might seem enough to solve for position since space has three dimensions

and a position near the Earth's surface can be assumed. However, even a very small clock

error multiplied by the very large speed of light — the speed at which satellite signals

propagate — results in a large positional error. Therefore receivers use four or more satellites

to solve for the receiver's location and time.

NMEA FORMAT

NMEA 0183 (or NMEA for short) is a combined electrical and data specification for

communication between marine electronic devices such as echo sounder, sonars,

anemometer, gyrocompass, autopilot, GPS receivers and many other types of instruments. It

has been defined by, and is controlled by, the U.S.-based National Marine Electronics

Association.

The NMEA 0183 standard uses a simple ASCII, serial communications protocol that defines

how data is transmitted in a "sentence" from one "talker" to multiple "listeners" at a time.

.RMC - NMEA has its own version of essential gps pvt (position, velocity, time) data. It is

called RMC, The Recommended Minimum, which will look similar to:

$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A

Where:

RMC Recommended Minimum sentence C

123519 Fix taken at 12:35:19 UTC

A Status A=active or V=Void.



4807.038, N Latitude 48 deg 07.038' N

01131.000, E Longitude 11 deg 31.000' E

022.4 Speed over the ground in knots

084.4 Track angle in degrees True

230394 Date - 23rd of March 1994

003.1, W Magnetic Variation

*6A The checksum data, always begins with *

4.8.1 NMEA FORMAT DETAILS

4.9 H-BRIDGE

An H-bridge is an electronic circuit which enables a voltage to be applied across a load in

either direction. These circuits are often used in robotics and other applications to allow DC

motors to run forwards and backwards. H bridges are available as integrated circuits, or can

be built from discrete components.

The term H-Bridge is derived from the typical graphical representation of such a circuit. An

H bridge is built with four switches (solid-state or mechanical). When the switches S1 and S4

(according to the first figure) are closed (and S2 and S3 are open) a positive voltage will be

applied across the motor. By opening S1 and S4 switches and closing S2 and S3 switches,

this voltage is reversed, allowing reverse operation of the motor.

The H-bridge arrangement is generally used to reverse the polarity of the motor, but can also

be used to 'brake' the motor, where the motor comes to a sudden stop, as the motor's

terminals are shorted, or to let the motor 'free run' to a stop, as the motor is effectively

disconnected from the circuit.

UNMANNED GROUND VEHICLE

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

Fig. 4.9.1 A H

4.10 LITHIUM -POLYMER BATTERY

Lithium- ion polymer batteries

batteries (abbreviated Li-

(secondary cell batteries). Normally batteries are composed of several identical secondary

cells in parallel addition to increase the discharge current capability.

This type has technologically evolved from

that the lithium-salt electrolyte

solid polymer composite such

polymer over the lithium

adaptability to a wide variety of packaging shapes, and ruggedness.

The voltage of a Li-poly cell varies from about 2.7 V (discharged) to about 4.23 V (fully

charged), and Li-poly cells have to be protected from overcharge by limiting the applied



Fig. 4.9.1 A H-Bridge general diagram and working mechanism

Fig 4.9.2 A L293D Motor Driving IC

POLYMER BATTERY

ion polymer batteries, polymer lithium ion , or more commonly

-poly, Li-Pol, LiPo, LIP, PLI or LiP) are

batteries). Normally batteries are composed of several identical secondary

cells in parallel addition to increase the discharge current capability.

This type has technologically evolved from lithium-ion batteries. The primary difference is

electrolyte is not held in an organic solvent

composite such as polyethylene or polyacrylonitrile. The advantages of Li

polymer over the lithium-ion design include potentially lower cost of manufacture,

de variety of packaging shapes, and ruggedness.

poly cell varies from about 2.7 V (discharged) to about 4.23 V (fully

poly cells have to be protected from overcharge by limiting the applied

R.G.I.T

21

Bridge general diagram and working mechanism

, or more commonly lithium polymer

rechargeable batteries

batteries). Normally batteries are composed of several identical secondary

. The primary difference is

organic solvent but in a

. The advantages of Li-ion

ion design include potentially lower cost of manufacture,

poly cell varies from about 2.7 V (discharged) to about 4.23 V (fully

poly cells have to be protected from overcharge by limiting the applied



voltage to no more than 4.235 V per cell used in a series combination. Overcharging a Li-

poly battery can cause an explosion or fire.

TECHNICAL SPECIFICATIONS

There are currently two commercialized technologies, both lithium-ion-polymer

(where "polymer" stands for "polymer electrolyte/separator") cells. These are collectively

referred to as "polymer electrolyte batteries".

The battery is constructed as:

1. negative electrode: LiCoO2 or LiMn2O4

2. Separator: Conducting polymer electrolyte

3. positive electrode: Li or carbon-Li intercalation compound

Polymer electrolytes/separators can be solid polymers (e.g., polyethylene oxide, PEO)

plus LiPF6, or other conducting salts plus SiO2, or other fillers for better mechanical

properties (such systems are not available commercially yet).

4.10.1 A typical 5 Amp Li-Po Battery

4.12 WEBCAM:-

A webcam is a video camera which feeds its images in real time to a computer or computer

network, often via USB, Ethernet or Wi-Fi. Their most popular use is the establishment of

video links, permitting computers to act as videophones or videoconference stations. This

common use as a video camera for the World Wide Web gave the webcam its name. Other

popular uses include security surveillance and computer vision. Webcams are known for



their low manufacturing cost and flexibility, making them the lowest cost form of video

telephony. They have also become a source of security and privacy issues, as some built-in

webcams can be remotely activated via spyware.

FEATURES (LOGITECH WEBCAM C100):-

• Plug-and-play setup (UVC)

• Video capture: Up to 640 x 480 pixels

• Photos: Up to 1.3 megapixels (software enhanced)

• Frame rate: Up to 30 frames per second (with recommended system)

• Hi-Speed USB 2.0 certified

• Fixed focus

• Universal clip fits notebooks, LCD or CRT monitor

4.12.1 THE LOGITECH C100 WEBCAM

4.13 RELAY BOARD:

A relay is an electrically operated switch. Many relays use an electromagnet to operate a

switching mechanism mechanically, but other operating principles are also used. Relays are

used where it is necessary to control a circuit by a low-power signal (with complete electrical

isolation between control and controlled circuits), or where several circuits must be

controlled by one signal.

A simple electromagnetic relay consists of a coil of wire surrounding a soft iron core, an iron

yoke which provides a low reluctance path for magnetic flux, a movable iron armature, and



one or more sets of contacts (there are two in the relay pictured). The armature is hinged to

the yoke and mechanically linked to one or more sets of moving contacts. It is held in place

by a spring so that when the relay is de-energized there is an air gap in the magnetic circuit.

In this condition, one of the two sets of contacts in the relay pictured is closed, and the other

set is open. Other relays may have more or fewer sets of contacts depending on their

function. The relay in the picture also has a wire connecting the armature to the yoke. This

ensures continuity of the circuit between the moving contacts on the armature, and the circuit

track on the printed circuit board (PCB) via the yoke, which is soldered to the PCB.

When an electric current is passed through the coil it generates a magnetic field that attracts

the armature and the consequent movement of the movable contact either makes or breaks

(depending upon construction) a connection with a fixed contact. If the set of contacts was

closed when the relay was de-energized, then the movement opens the contacts and breaks

the connection, and vice versa if the contacts were open. When the current to the coil is

switched off, the armature is returned by a force, approximately half as strong as the

magnetic force, to its relaxed position. Usually this force is provided by a spring, but gravity

is also used commonly in industrial motor starters. Most relays are manufactured to operate

quickly.

Fig. 4.13.1 The Internal Structure of a Relay

4.14 Infrared Sensors:

Infrared (IR) light is electromagnetic radiation with a wavelength longer than that of visible

light, measured from the nominal edge of visible red light at 0.7 micrometers, and extending



conventionally to 300 micrometers. These wavelengths correspond to a frequency range of

approximately 430 to 1 THz, and include most of the thermal radiation emitted by objects

near room temperature. Microscopically, IR light is typically emitted or absorbed by

molecules when they change their rotational-vibration movements. Sunlight at zenith

provides an irradiance of just over 1 kilowatt per square meter at sea level. Of this energy,

527 watts is infrared radiation, 445 watts is visible light, and 32 watts is ultraviolet radiation.

The basic idea is to send infra red light through IR-LEDs, which is then reflected by any

object in front of the sensor. Then all you have to do is to pick-up the reflected IR light. For

detecting the reflected IR light, we are going to use a very original technique: we are going to

use another IR-LED, to detect the IR light that was emitted from another led of the exact

same type. This is an electrical property of Light Emitting Diodes (LEDs) which is the fact

that a led produces a voltage difference across its leads when it is subjected to light. As if it

was a photo-cell, but with much lower output current. In other words, the voltage generated

by the leds can't be - in any way - used to generate electrical power from light, it can barely

be detected. That’s why Opamps are mostly used for accurately detection of low voltages.

Fig 4.14.1: IR Sensors and its working

4.15 Nickel-Cadmium Battery

The Nickel-cadmium battery (commonly abbreviated NiCd or NiCad) is a type of

rechargeable battery using nickel oxide hydroxide and metallic cadmium as electrodes.



The abbreviation NiCad is a registered trademark of SAFT Corporation, although this brand

name is commonly used to describe all nickel-cadmium batteries. The abbreviation NiCd is

derived from the chemical symbols of nickel (Ni) and cadmium (Cd).There are two types of

NiCd batteries: sealed and vented.

A fully charged NiCd cell contains:

• a nickel(III) oxide-hydroxide positive electrode plate.

• a cadmium negative electrode plate.

• a separator.

• and an alkaline electrolyte (potassium hydroxide).

NiCd batteries usually have a metal case with a sealing plate equipped with a self-sealing

safety valve. The positive and negative electrode plates, isolated from each other by the

separator, are rolled in a spiral shape inside the case. This is known as the jelly-roll design

and allows a NiCd cell to deliver a much higher maximum current than an equivalent size

alkaline cell. Alkaline cells have a bobbin construction where the cell casing is filled with

electrolyte and contains a graphite rod which acts as the positive electrode. As a relatively

small area of the electrode is in contact with the electrolyte (as opposed to the jelly-roll

design), the internal resistance for an equivalent sized alkaline cell is higher which limits the

maximum current that can be delivered.

Fig. 4.15.1 A 6.0 V NI-CD Battery



CHAPTER 5: SOFTWARE USED

5.1 PROCESSING

It is an open source programming language and environment for people who want to create

images, animations, and interactions. Initially developed to serve as a software sketchbook

and to teach fundamentals of computer programming within a visual context, Processing also

has evolved into a tool for generating finished professional work. Today, there are tens of

thousands of students, artists, designers, researchers, and hobbyists who use Processing for

learning, prototyping, and production.

• Free to download and open source

• Interactive programs using 2D, 3D or PDF output

• OpenGL integration for accelerated 3D

• For GNU/Linux, Mac OS X, and Windows

• Projects run online or as double-clickable applications

• Over 100 libraries extend the software into sound, video, computer vision, and more

Processing is a programming language, development environment, and online community

that since 2001 has promoted software literacy within the visual arts. Initially created to serve

as a software sketchbook and to teach fundamentals of computer programming within a

visual context, Processing quickly developed into a tool for creating finished professional

work.

Fig 5.1.1 The Processing Program window and the Display Screen



Processing is a free, open source alternative to proprietary software tools with expensive

licenses, making it accessible to schools and individual students. Its open source status

encourages the community participation and collaboration that is vital to Processing's

growth. Contributors share programs, contribute code, answer questions in the discussion

forum, and build libraries to extend the possibilities of the software. The Processing

community has written over seventy libraries to facilitate computer vision, data visualization,

music, networking, and electronics.

The Processing software runs on the Mac, Windows, and GNU/Linux platforms. With the

click of a button, it exports applets for the Web or standalone applications for Mac,

Windows, and GNU/Linux. Graphics from Processing programs may also be exported as

PDF, DXF, or TIFF files and many other file formats. Future Processing releases will focus

on faster 3D graphics, better video playback and capture, and enhancing the development

environment. Some experimental versions of Processing have been adapted to other

languages such as JavaScript, ActionScript, Ruby, Python, and Scala; other adaptations bring

Processing to platforms like the OpenMoko, iPhone, and OLPC XO-1.

Processing was founded by Ben Fry and Casey Reas in 2001 while both were John Maeda's

students at the MIT Media Lab. Further development has taken place at the Interaction

Design Institute Ivrea, Carnegie Mellon University, and the UCLA, where Reas is chair of

the Department of Design | Media Arts. Miami University, Oblong Industries, and the

Rockefeller Foundation have generously contributed funding to the project.

The Cooper-Hewitt National Design Museum (a Smithsonian Institution) included

Processing in its National Design Triennial. Works created with Processing were featured

prominently in the Design and the Elastic Mind show at the Museum of Modern Art.

Numerous design magazines, including Print, Eye, and Creativity, have highlighted the

software.

For their work on Processing, Fry and Reas received the 2008 Muriel Cooper Prize from the

Design Management Institute. The Processing community was awarded the 2005 Prix Ars

Electronica Golden Nica award and the 2005 Interactive Design Prize from the Tokyo Type

Director's Club.



5.2 TEAMVIEWER

Remote Desktop Protocol (RDP) is a proprietary protocol developed by Microsoft, which

concerns providing a user with a graphical interface to another computer. The protocol is an

extension of the ITU-T T.128 application sharing protocol Clients exist for most versions of

Microsoft Windows (including Windows Mobile), Linux, Unix, Mac OS X, Android, and

other modern operating systems. By default the server listens on TCP port 3389.

Microsoft currently refers to their official RDP server software as Remote Desktop Services,

formerly "Terminal Services". Their official client software is currently referred to as Remote

Desktop Connection, formerly "Terminal Services Client".

There are numerous non-Microsoft implementations of RDP clients and servers. The open-

source command-line client rdesktop is the most commonly-used backend for the Remote

Desktop Protocol on Linux/Unix operating systems. There are many GUI clients, like tsclient

and KRDC, which are built on top of rdesktop. In 2009, rdesktop was forked as FreeRDP, a

new project aiming at modularizing the code, addressing various issues, and implementing

new features. The current most popular front-end to FreeRDP is Remmina.

TeamViewer is our solution for easy and friendly desktop sharing. You can remote control a

partner’s desktop to give online assistance, or you can show your screen to a customer - all

without worrying about firewalls, IP addresses and NAT.

1. One solution for everything

While most competitors offer different packages for remote support, remote

administration, training and sales. TeamViewer is the one-stop solution for everything

you need: TeamViewer includes all modules in one simple and very affordable package.

2. Remote administration of unattended servers

TeamViewer can also be used to control unattended computers and servers. System

service installations even allow remote reboot and reconnect.

3. Highest security standard



TeamViewer is a very secure solution. All versions feature completely secure data

channels with key exchange and AES (256 Bit) session encoding, the same security

standard used by https/SSL.

4. Remote support without installation

With TeamViewer you can remotely control any PC anywhere on the Internet. No

installation is required, just run the application on both sides and connect - even through

tight firewalls.

5. Remote presentation of products, solutions and services

TeamViewer allows you to present your desktop to a partner. Share live demos, products,

and presentations over the Internet within seconds.

6. Browser based access

The purely html and flash based solution can be used from nearly any browser and

operating system.

7. Very competitively priced, free versions available

TeamViewer offers great value for low prices. TeamViewer even offers a free version for

non-commercial use.

8. Optimized performance

Whether you have a LAN or dial-up connection, TeamViewer optimizes display quality

and speed depending on your network connection.

5.3 ARDUINO

Arduino is a tool for making computers that can sense and control more of the physical world

than your desktop computer. It's an open-source physical computing platform based on a

simple microcontroller board, and a development environment for writing software for the

board.

Arduino can be used to develop interactive objects, taking inputs from a variety of switches

or sensors, and controlling a variety of lights, motors, and other physical outputs. Arduino

projects can be stand-alone, or they can be communicate with software running on your

computer (e.g. Flash, Processing, MaxMSP.) The boards can be assembled by hand or

purchased preassembled; the open-source IDE can be downloaded for free.



The Arduino programming language is an implementation of Wiring, a similar physical

computing platform, which is based on the Processing multimedia programming

environment.

Why Arduino?

There are many other microcontrollers and microcontroller platforms available for physical

computing. Parallax Basic Stamp, Netmedia's BX-24, Phidgets, MIT's Handyboard, and

many others offer similar functionality. All of these tools take the messy details of

microcontroller programming and wrap it up in an easy-to-use package. Arduino also

simplifies the process of working with microcontrollers, but it offers some advantage for

teachers, students, and interested amateurs over other systems:

Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand, and

even the pre-assembled Arduino modules cost less than $50

Cross-platform - The Arduino software runs on Windows, Macintosh OSX, and Linux

operating systems. Most microcontroller systems are limited to Windows.

Simple, clear programming environment - The Arduino programming environment is easy-

to-use for beginners, yet flexible enough for advanced users to take advantage of as well. For

teachers, it's conveniently based on the Processing programming environment, so students

learning to program in that environment will be familiar with the look and feel of Arduino

Open source and extensible software- The Arduino software and is published as open source

tools, available for extension by experienced programmers. The language can be expanded

through C++ libraries, and people wanting to understand the technical details can make the

leap from Arduino to the AVR C programming language on which it's based. Similarly, you

can add AVR-C code directly into your Arduino programs if you want to.

Open source and extensible hardware - The Arduino is based on

Atmel's ATMEGA8 and ATMEGA168microcontrollers. The plans for the modules are

published under a Creative Commons license.



CHAPTER 6: UGV Operation:

The UGV operates in four modes:

Command Centre Control mode:

• Maneuver the UGV wirelessly by transmitting navigation commands from the base station based on the video received from the on-board camera.

• Control the turret wirelessly in order to locate and eliminate targets in the field of vision.

ARMCON mode:

• Control the UGV using commands sent based on hand movements mapped by the IMU unit

Autonomous mode:

• Capable of travelling from point A to point B without human

navigation commands.

• Adjust strategies based on surroundings using obstacle detection algorithms.

Raptor mode:

• Locate and eliminate targets in the field vision using motion tracking.

• Motion tracking implemented through advanced image processing algorithms.



6.1 COMMAND C

Description:-

The aim of this mode is to enable tele

which could vary from a simple computer keyboard to other self designed input devices. The

commands are sent over to the UGV remotely using wireless comm

such as zigbee or internet, while it transfers live video feedback to the user.

Fig. 6.1.1 BLOCK DIAGRAM

Algorithm Design:

User side :-

• Up down Left and Right arrow keys have been assigned

• The keys pressed have been mapped into Specific characters which are sent as

Control signals to

• The Characters sent have their unique function assigned to them which is

shown.



CENTRE CONTROL (Mode -1)

The aim of this mode is to enable tele-operation of unmanned ground vehicle using inputs


commands are sent over to the UGV remotely using wireless communication technologies


DIAGRAM FOR THE COMMAND CENTRE CONTROL MODE

Up down Left and Right arrow keys have been assigned

The keys pressed have been mapped into Specific characters which are sent as

Control signals to the arduino controller.

The Characters sent have their unique function assigned to them which is

R.G.I.T

33

1)

operation of unmanned ground vehicle using inputs


unication technologies


FOR THE COMMAND CENTRE CONTROL MODE

Up down Left and Right arrow keys have been assigned for rover movement.

The keys pressed have been mapped into Specific characters which are sent as

The Characters sent have their unique function assigned to them which is



UGV side :-

• UGV monitors seri

subsequent decisions.

• The following functions are executed in response to the character sent [

down(), left(), right(), halt()

• We have provided Clockwise

forward and reverse movement of the UGV

• Dedicated

maintained and

Fig. 6.1.2 FLOW CHART FOR THE COMMAND CENTRE CONTROL



UGV monitors serial input for the received characters and makes the


The following functions are executed in response to the character sent [

down(), left(), right(), halt()]

We have provided Clockwise and anticlockwise pin assi

forward and reverse movement of the UGV

Dedicated PWM signal pin for 80 - 120 degrees range of servo

maintained and H - Bridge Enable control is being utilized for

Fig. 6.1.2 FLOW CHART FOR THE COMMAND CENTRE CONTROL

R.G.I.T

34

al input for the received characters and makes the

The following functions are executed in response to the character sent [up(),

and anticlockwise pin assignment for

20 degrees range of servo turn is

is being utilized for braking.

Fig. 6.1.2 FLOW CHART FOR THE COMMAND CENTRE CONTROL MODE



6.2. Autonomous Mode (Mode

Description:-

The aim of this mode is to enable autonomous functioning of the unmanned ground vehicle

with/without human supervision. To accomplish this operation

GPS, magnetic compass is

self navigated system. Other technologies like Infrared

provide functional obstacle avoiding capabilities which augment the autonomous operation.

Fig. 6.2.1 BLOCK DIAGRAM

Algorithm Design:

Firstly we need to o

from the Compass for the UGV.

Then the Destination Co

Calculate the angle by which the UGV orients

simple trigonometric functions

Calculated angle provides the UGV

The UGV navigates itse



Autonomous Mode (Mode-2):-


with/without human supervision. To accomplish this operation navigation technology such as

compass is used to provide the onboard system enough data to

stem. Other technologies like Infrared sensors are us

obstacle avoiding capabilities which augment the autonomous operation.

BLOCK DIAGRAM FOR THE AUTONOMOUS MODE

Firstly we need to obtain the Current GPS co-ordinates and the heading r

from the Compass for the UGV.

the Destination Co-ordinates are acquired from the user.

the angle by which the UGV orients with the desired direction using

simple trigonometric functions

culated angle provides the UGV movement control signals.

The UGV navigates itself to the desired location.

R.G.I.T

35


navigation technology such as

used to provide the onboard system enough data to operate as a

sensors are used in our prototype to

obstacle avoiding capabilities which augment the autonomous operation.

FOR THE AUTONOMOUS MODE

ordinates and the heading reading

with the desired direction using



Path planning algorithms are

Obstacle avoiding algorithm is also encorporated, which makes sure, the unmanned

ground vehicle avoids obstacles while doing task at hand in the most efficient manner

based on the IR sensors values which are obtained

obstacles.

Fig.6.2.2



Path planning algorithms are used to decide the path taken.



ased on the IR sensors values which are obtained

Fig.6.2.2 Flowchart for the autonomous mode

R.G.I.T

36



with respect to the



6.3 ARMCON controlled Mode (Mode 3):

Description:-

In situations which do not permit the UGV to be operated

alternative to tackle such

aim of ARMCON mode is to remedy such situations. Here instead of sticking on to

conventional input technologies, hand gestures are used to maneuver the rover

commands which are acquire

using zigbee technology.

Fig. 6.3.1

Algorithm Design:

ARMCON side :-

• Provides pitch and roll values based on the incl

axis i.e. it senses the tilt motion of the Board

• We have assumed a range of 30

directions.

• Values are

respectively



ARMCON controlled Mode (Mode 3):-

ituations which do not permit the UGV to be operated with base station assistance

alternative to tackle such problem is to provide another mode of control over the UGV. The


conventional input technologies, hand gestures are used to maneuver the rover

commands which are acquired using inertial measurement unit are transferred wirelessly

Fig. 6.3.1 BLOCK DIAGRAM FOR THE ARMCON MODE

Provides pitch and roll values based on the inclination along x and y

i.e. it senses the tilt motion of the Board.

We have assumed a range of 30 degrees along both the positive and negative

Values are serially monitored and transmitted by arduino and zigbee

respectively.

R.G.I.T

37

base station assistance an

problem is to provide another mode of control over the UGV. The


conventional input technologies, hand gestures are used to maneuver the rover and the

d using inertial measurement unit are transferred wirelessly

FOR THE ARMCON MODE

ination along x and y

the positive and negative

serially monitored and transmitted by arduino and zigbee



UGV side :-

• UGV monitors serial inpu


• The following functions are executed in response to the character sent [

down(), left(), right(), halt()

• We have provided Clockwise

and reverse

• Dedicated

maintained and

Fig.



UGV monitors serial input for the received characters and makes the


The following functions are executed in response to the character sent [

down(), left(), right(), halt()].

We have provided Clockwise and anticlockwise pin assignment

and reverse movement of the UGV.

Dedicated PWM signal pin for 80 - 120 degrees range of servo

maintained and H - Bridge Enable control is being utilized for

Fig. 6.3.2. Flowchart for the Armcon mode

R.G.I.T

38

t for the received characters and makes the

The following functions are executed in response to the character sent [up(),

and anticlockwise pin assignment for forward

20 degrees range of servo turn is

is being utilized for braking.



6.4 RAPTOR MODE

Description:-

The motive behind RAPTOR MODE is to provide motion tracking functionality to it using

advanced image processing algorithm i.e. optical flow. The camera mounted on servos at the

front end of rover acquires the image which is processed by th

corresponding to the computational results of which the servo commands are issued to move

the camera thus enabling motion tracking.

Fig 6.4.2 BLOCK

Algorithm Design:

Firstly, the Image frame f1 is acquired at time

Then the Image frame f2 is acquired at time

We know T2>T1, markers placed in both the frames at preset locations.

Both the frames after marking are compared

in f1 is found in the neighborhood of the same marker in

If there is a match, a vector is drawn from marker to the new location of the

pixel determined.

The above steps are repeated for the all



6.4 RAPTOR MODE (MODE – 4)



front end of rover acquires the image which is processed by th


motion tracking.

Fig 6.4.2 BLOCK DIAGRAM FOR THE RAPTOR MODE

Firstly, the Image frame f1 is acquired at time T1.

Then the Image frame f2 is acquired at time T2.

markers placed in both the frames at preset locations.

frames after marking are compared, and the location of the pixel at a marker

in f1 is found in the neighborhood of the same marker in the f2.


steps are repeated for the all the markers.

R.G.I.T

39



front end of rover acquires the image which is processed by the onboard system


FOR THE RAPTOR MODE

markers placed in both the frames at preset locations.

, and the location of the pixel at a marker

.




The magnitude and direction of the vector is used in to find the direction of

motion of the pixel in the image and the decision to move the turret position

is made on the basis of the observed data.

Fig. 6.4.2 FL





is made on the basis of the observed data.

Fig. 6.4.2 FLOWCHART FOR THE RAPTOR MODE

R.G.I.T

40



OWCHART FOR THE RAPTOR MODE



CHAPTER 7: APPLICATIONS:

1. RECONNAISSANCE- Also known as Scouting, is the military term for performing a

preliminary survey, especially an exploratory military survey, to gain or collect

information.

2. BOMB DISPOSAL- Used in defusing and deactivating Explosives as a result of

which an added feature a robotic arm can be added.

3. SEARCH AND RESCUE-In times of Natural calamities or man based disasters,it

proves to be a reliable machine to locate people or objects with ease where it renders

human effort futile.

4. BORDER PATROL AND SURVEILLANCE- In times of military warfare or border

encroachment, it is used to monitor alien force entering into the territory.

5. ACTIVE COMBAT SITUATIONS- Widely used on the battlefield, UGVs equipped

with Explosives, Weaponry and shields have proven to be handy expendables assets

without the cost of human life

6. STEALTH COMBAT OPERATIONS- Spying purpose without coming into the radar

of the enemy is effective in war strategies.

7. NEW EXPLORATIONS – Deep cave searches, underwater explorations and the

currently executing Mars and outer planets exploration can be performed.

8. To undertake dangerous missions which involves loss of human life.



CHAPTER 8: LIMITATIONS

1. IR sensors used on board for obstacle avoidance are extremely directional; it works

inefficiently in sunlight and fails to detect black bodies.

2. Current capacities of the batteries i.e. (Li-PO and Ni-Cd). These batteries can power up

the system only for a particular duration defined by their current capacities, elapsing

which the batteries would drain out leaving the system powerless.

3. It is required for the system to have high data rates of 3G internet services for the

communication between the base station and UGV. Failure in providing such high data

rates would lead to inefficient processing and thus an unreliable system.

4. It is required that the computers that are used on board and the one used in the base

station need to have high computational capabilities and high processing speeds.

5. GPS used on board to get the current location of the UGV will not lock onto a value

unless and until there is direct line of sight between the UGV and at least 4 satellites.

6. Magnetic compass used on board to acquire the current heading of the UGV is subject to

interferences from other on board components and outer atmosphere which results in

unreliable readings.



CHAPTER 9: RESULT

• Successfully built a stand-alone rover capable of both manual and autonomous

modes of control.

• Added a rotating camera platform that can target the enemy with/without human

control.

• Successfully implemented features including motion tracking, obstacle detection,

path planning , gesture control and GPS.

• We have made use of Modern communication advancement such as 3G services to

provide ease of access and portability to our UGV.

CHAPTER 10: CONCLUSION

• The incorporation of various technologies under one roof has given us the path

to achieve goals which have never been realized in such an efficient manner in the

past.

• These technologies bring about a self relying and able machine to tackle

Situations on its own and ease a human’s job in the present day scenarios.

UGV-Freedom

Technological advancement is the biggest asset to mankind



BIBLIOGRAPHY

Books:

Rafael C. Gonzalez and Richard E. Woods, “Digital Image Processing,” 3rd ed., PHI Learning, 2008.

Papers:

K.K.Soundra Pandian Member, IAENG and Priyanka Mathur,”Traversability Assessment of Terrain for Autonomous Robot Navigation, “Proceedings of the International MultiConference of Engineers and Computer Scientists 2010 Vol II, IMECS 2010, March 17-19, Hongkong, ISBN: 978-988-18210-4-1.

Saurav Kumar and Pallavi Awasthi, “Navigation Architecture for Autonomous Surveillance Rover,” International Journal of Computer Theory and Engineering, Vol. 1, No. 3, August, 2009 1793-8201, Pg. 231-235.

Mohd Azlan Shah Abd Rahim and Illani Mohd Nawi, “Path Planning Automated Guided Robot,” Proceedings of the World Congress on Engineering and Computer Science 2008, WCECS 2008, October 22 - 24, 2008, San Francisco, USA, ISBN: 978-988-98671-0-2.

Boyoon Jung and Gaurav S. Sukhatme, “Real-time Motion Tracking from a Mobile Robot,” International Journal of Social Robotics, Volume 2, Number 1, 63-78, DOI: 10.1007/s12369-009-0038-y

Wenshuai Yua, Xuchu Yub, Pengqiang Zhang and Jun Zhou, “A New Framework of Moving Target Detection and Tracking for UAV Video Application,” The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences. Vol. XXXVII. Part B3b. Beijing 2008

WEBSITES:

http://en.wikipedia.org/wiki/Unmanned_ground_vehicle

www.robotfrontier.com/papers/griffon-article.pdf



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