Unmanned Ground Vehicle

Final Year Engineering Project Seminar

For more information, check out my papers online:

Command controlled robot:
http://www.ijtre.com/manuscript/2014010976.pdf

Self controlled robot:
http://www.ijtre.com/manuscript/2014011008.pdf

Gesture controlled robot:
http://www.ijtre.com/manuscript/2014011107.pdf

1. UNMANNED GROUND VEHICLE
PROJECT TOPIC

3. WHAT IS AN UNMANNED GROUND VEHICLE ?
•An Unmanned Ground vehicle (UGV) is a robot used to augment
human capability in both civic and military activities in open terrain.
•It is used as a human replacement in several dangerous military
operations such as handling explosives, diffusing bombs and front line
reconnaissance.
•There are two general classes of unmanned ground vehicles -
Tele operated
Autonomous

4. PROJECT ABSTRACT
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.

5. Arduino Microcontroller:
•Microcontroller: ATMega328
•Operating Voltage: 5V
•Input Voltage (recommended):
7-12V
•Digital I/O Pins: 14 (6 for
PWM output)
•Analog Input Pins: 6
•Flash Memory: 32 KB (1/2 KB
boot-loader)
•Power supply: USB, barrel
connector, battery
•Advantages: ease of
programming, inbuilt boot-loader,
ease of communication
Components Description

6. GPS Module:
To obtain position co-ordinates
Weight: 16g including cable
• 30 Healthy satellites in orbit
• Extremely high sensitivity
 20m Positional Accuracy

Magnetic compass:
•Simple I2C interface
•2.7 to 5.2V supply range
•1 to 20Hz selectable update
rate
•0.5 degree heading resolution
•Supply current : 1mA at 3V

7. Inertial Measurement Unit (IMU):
•Obtain pitch, roll and yaw
values
•Contains three axis
accelerometer providing changes
in the current acceleration due to
gravity.
ZIGBEE (X-Bee Pro series 2):
Range : Up to 2 miles.
Operating Frequency – 2.4 GHz
• Power Output – 50mW
• Operating Power – 3-3.4V, 300mA

8. SERVO motor:
•Electro-mechanical device
•Shaft angle proportional control
based on electrical signal
•0 – 180 degrees motion
•Extensive applications in robotics,
airplanes, RC cars, etc.
Li-Po Battery:
•Current Capacity: 5000mAH
•Configuration: 18.5V, 5 Cell
• Pack weight : 666 gm
• Pack Size : 149 x 48 x 42 mm

9. COMMAND CENTRE CONTROL (Mode -1)
UGV
ON BOARD
SYSTEM
COMMAN
D CENTRE
(SYSTEM)
ARDUINO
CONTROLLER
LIVE
VIDEO
FEED
USER
KEYBOARD
MOUSE
H-BRIDGE
TURRET
INTERNET
DC
MOTOR
SERVO
MOTOR
RELAY
BLOCK DIAGRAM
Power
Supply(Li-
Po)
Regulator
Circuit

10. Algorithm Design :
User side :-
•Keys for rover movement
•Their equivalent translation to the arduino controller.
•The operation being executed are as shown.
UGV side :-
•UGV monitors serial input for the received characters and makes the subsequent decisions.
•Execution of up(), down(), left(), right(), halt()
•Clockwise and anticlockwise pin assignment for forward and reverse.
•Separate PWM pin for 80 -120 degrees range of servo turn, H- Bridge Enable control for
braking.



Key
Pressed
Character sentObjective
Up U Forward
Down D Reverse
Left L Turn left
Right R Turn
right
Ctrl 0 Stop

11. FLOW CHART
Command Centre control
– Selects Manual mode
User defined input - up,
down, left, right, control
Control signals sent-
U,D,L,R,0
To UGV
System
Base station
Control
Monitoring serially sent
control
Signals- U,D,L,R,0
From
command
Centre system
Equivalent functions run-
up(), down(),
right(),left(),halt()
Respective pins are set
high to control movement
and turn
UGV Control

12. Autonomous Mode (MODE – 2)
H-Bridge
GPS
MAGNETIC
COMPASS
IR Sensors
DC &
Servo
motors
USER
Base
station
and On
board
system
ARDUINO

Controlle
r
UGV
MOTION
BLOCK DIAGRAM
Power
Supply(Li-
Po)
Regulator
Circuit

13. Algorithm Design:
Obtain the Current GPS co-ordinates and the heading reading
from the Compass.
Obtain the Destination Co-ordinates from the user.
Calculate the angle by which the UGV orients with the
desired direction.
Calculated angle provides the rover movement control signals.
The UGV navigates itself to the desired location based on the
IR sensors values which are obtained with respect to the
obstacles.

IR(L)IR(M
)
IR(R)Operations
performed
0 0 0 (No obstacles)
0 0 1 Left() and Up()
0 1 0 Random[Right()
or Left()] and
Up()
0 1 1 Left() and Up()
IR(L)IR(M
)
IR(R)Operations
performed
1 0 0 Right() and
Up()
1 0 1 Up()
1 1 0 Right() and
Up()
1 1 1 Random[Right()
or Left()] and
down()

14. FLOW CHART
Obtain current
location and
destination from
user
Calculate difference
angle
Calculate distance,
heading.
Obtain current
angle from compass
Decision on navigation
based on difference
angle
Simultaneously monitor
the IR sensor values
(obstacles)
Destination reached
with some exceptions
Command Centre-
Selects Autonomous
Mode
Perform necessary
obstacle avoidance
using set of IR values

15. ARMCON - IMU Controlled (Mode -3)
NI-CD
BATTERY
ARDUINO
CONTROLLER
X-BEE
PRO S2
IMU X-BEE
PRO S2
UGV ON
BOARD
SYSTEM
H-Bridge
(DC &
SERVO
MOTORS)
UGV
MOTION
BLOCK DIAGRAM
Arduino
Power
Supply(Li-
Po)
Regulator
Circuit

16. Algorithm Design:
ARMCON side :-
•Provides pitch and roll values based on the inclination along x and
y axis.
•Assumed range 30+ along both directions(+ve & -ve).
•Values serially monitored and transmitted by arduino and zigbee
respectively.
UGV side:-
•Execution of up(), down(), left(), right(), halt()
•Clockwise and anticlockwise pin assignment for forward and
reverse.
•Separate PWM pin for 80 -120 degrees range of servo turn.
•H- Bridge Enable control for braking
Range Character
sent
Objective
Pitch > 30 F Forward
Pitch < -30 B Reverse
Roll > 30R Right
Roll < -30 L Left
-30<= pitch
>=30
-30<= roll
>=30
0 Stop

17. Command Centre: Selects
IMU mode
Pitch and roll variations of
the IMU
Controls signals for pitch
and roll- f,b,r,l,0
Serially communicated to
X-Bee
To
UGV
From the
ARMCON
Setup
Received by the X-bee
and stored
Controls signals
translated to equivalent
functions
Up(), down(), right(),
left(), halt() for rover
movements
FLOW CHART
ARMCON SIDE UGV SIDE

18. USER
COMMAN
D CENTER
SYSTEM
ON
BOARD
SYSTEM
ARDUINO
CONTROLLER
TURRET
RAPTOR MODE (MODE – 4)
BLOCK DIAGRAM
Power
Supply(Li-
Po)
Regulator
Circuit

19. Algorithm Design:
Image frame f1 acquisition at time T1.
Image frame f2 acquisition at time T2.
T2>T1 , markers placed in both the frames at preset
locations.
Both the 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.
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 the markers.
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: Vector flow diagram of rotating
object

20. FLOW CHART
Command Centre-
Selects Raptor mode
IMAGE ACQUISITION
MARKERS ARE PLACED AT
PRESET LOCAITONS
THE
POSITION TO
WHICH
TURRET TO
BE MOVED IS
COMPUTED
Equivalent turret
movement to track the
motion of the object
Direction of
image flow
determined
Stop if
Raptor Mode
Deselected

21. Applications
Reconnaissance .
Bomb disposal.
Search and rescue.
Border patrol and surveillance.
Active combat situations.
Stealth combat operations.
New explorations.
To undertake dangerous missions which involves loss of human life.

22. 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.
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.

23. FUTURE ENHANCEMENTS
•Additional sensors such as Passive infrared sensors, thermal imaging,
Gas sensor, can be added to enhance the capabilities of the UGV.
•Optical flow augmented with other image processing algorithms such
as frame differencing, edge detection to accomplish more reliable
motion tracking.
•High end technology with higher resolving capabilities can be added
to enhance the present functionality of the UGV.
•Secure satellite links for communication increases the security of UGV
operation.

24. References and Papers
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

25. THANK YOU