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Presentation on

Unmanned Ground Vehicle

MITHILEYSH SATHIYANARAYANAN611702

Introduction Image of Unmanned Ground Vehicle Block Diagram of Unmanned Ground Vehicle Flow chart of the working of UGV Description about working of UGV Applications and Results

CONTENTS

What is an Unmanned Ground Vehicle?

• It is an exploration vehicle.• Unmanned Ground Vehicle is a Robot. It is

called as UGV.• It is used in the field of Military applications,

Gaming etc.

INTRODUCTION

PROJECT ABSTRACT

Command Control mode:• The UGV is controlled by commands given from the

base station(Computer/Laptop).Autonomous mode:• Capable of travelling from point A to point B

without human navigation commands.• Adjust strategies based on surroundings using

obstacle detection algorithms.Arm Controlled mode : The UGV is controlled by using commands based on

hand movements.

IMAGES OF UGV

COMMAND CENTRE CONTROL

UGV ON

BOARD SYSTEM

COMMAND

CENTRE

(SYSTEM)

ARDUINO CONTROL

LER

LIVE VIDEO FEED

USER

KEYBOARD

MOUSEH-BRIDGE

TURRET

INTERNET

DC MOTOR

SERVO MOTOR

RELAY

BLOCK DIAGRAM

Power Supply(Li-

Po)Regulator

Circuit

Key Pressed Character sent

Objective

UP U Forward

DOWN D Reverse

RIGHT R Right

LEFT L Left

CONTROL 0 Stop

FUNCTION OF UNMANNED GROUND VEHICLE IN COMMAND CONTROL MODE

Autonomous Mode

H-Bridge

GPS

MAGNETIC

COMPASS

IR Sensors

DC & Servo motors

USER

Base station and On board system

ARDUINO

Controller

UGV MOTION

BLOCK DIAGRAM

Power Supply(Li-

Po)Regulator

Circuit

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()

FUNCTION OF UNMANNED GROUND VEHICLE IN AUTONOMOUS MODE

ARM CONTROLLED MODE

NI-CD BATTERY

ARDUINO CONTROL

LER

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

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 CHARTARMCON SIDE UGV SIDE

The command is given from the base station that is human will control with his wrist.

Human himself is the base station. Control Signals from hand are Pitch and Roll

which is up, down and right, left movements. Rover senses the directions given by human

using Arduino hardware and software. Now the Control signals translated to

equivalent functions.

Description

Range Character sent

Objective

Pitch > 30 F Forward

Pitch < -30 B Reverse

Roll > 30

R Right

Roll < -30

L Left

-30<= pitch >=30-30<= roll

>=30

0 Stop

FUNCTION OF PITCH AND ROLL

Used in new explorations. Military purposes Bomb Disposal Search and Rescue Gaming Satellite communication Vehicle tracking

APPLICATIONS

RESULTS

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.

FUTURE ENHANCEMENTS

• Additional sensors such as Passive infrared sensors, thermal imaging, Gas sensor, can be added to enhance the capabilities of the UGV.

• Secure satellite links for communication increases the security of UGV operation.

THANK YOUTHANK YOU