UNMANNED SURVEILLANCE VEHICLE REMOTELY CONTROLLED … · that we set for it. Unmanned Surveillance...

http://www.iaeme.com/IJMET/index.asp 574 [email protected]

International Journal of Mechanical Engineering and Technology (IJMET) Volume 9, Issue 11, November 2018, pp. 574–585, Article ID: IJMET_09_11_057

Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=9&IType=11

ISSN Print: 0976-6340 and ISSN Online: 0976-6359

© IAEME Publication Scopus Indexed

UNMANNED SURVEILLANCE VEHICLE

REMOTELY CONTROLLED BY ANDROID

APPLICATION

Venugopal P

Assistant Professor (Senior), School of Electronics Engineering,Vellore Institute of

Technology, Vellore(TN),India, Email:[email protected]

Vemparala satya naga chandra mouli

B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India Email:

Sayantan Kundu

B.Tech student, Department of ECE, Vellore Institute of Technology,Vellore(TN),India

I V G Sai Dheeraj


Shaik abdul mushahir


ABSTRACT

This paper describes the development of an autonomous robotic vehicle for

distributed surveillance under Unmanned Surveillance Vehicle project. The primary aim

of our project is to develop novel mobile and unattended ground sensor platforms that

will extend the sphere of awareness and mobility for different applications. The project is

focused on developing efficient perception, sensor fusion, heterogeneous swarm

technologies, distributed command and control, and task decomposition.Unmanned

Surveillance Vehicle is a robot capable of conducting surveillance in areas where human

cannot reach or are not permitted. Unmanned Surveillance Vehicle is reprogrammable

and can be interchanged to provide multiple applications. Our ultimate goal was to

develop mobile robotic technologies that extend the sphere of awareness and mobility of

an individual or group performing such operations, by increasing sensory "reach", giving

the robots a significant degree of autonomy, and provided with the ability to task multiple

platforms as a single logical entity. Unmanned Surveillance Vehicle seeks to augment

human capabilities, reduce exposure to risk, and present timely, relevant information to

the user.

Keywords: stacle avoidance, Bluetooth module, Unmanned Surveillance, Arduino Motor

control.

Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V G Sai Dheeraj and Shaik

abdul mushahir


Cite this Article Venugopal P, Vemparala satya naga chandra mouli, Sayantan Kundu, I V

G Sai Dheeraj and Shaik abdul mushahir, Unmanned Surveillance Vehicle Remotely

Controlled by Android Application., International Journal of Mechanical Engineering and

Technology, 9(11), 2018, pp. 574–585.

http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=9&IType=11

1. INTRODUCTION

With the rapid development of home automation on a Global scale in past few years, mobile

robots are increasingly used in home environments [1]. Surveillance robots are widely used in

home automation services for example cleaning, security, rehabilitation training, and homecare

purposes. Robots and their peripheral equipment become more sophisticated, these systems are

increasingly being used for entertainment, military, and surveillance purposes. A remote

controlled surveillance robot is defined as any robot which is remotely controlled to capture

Images/video for specific purposes.

Military robots are self-governing robot which is specially design for military purposes, such

system are in research now. [2] Mechatronics (is trying to develop a working automated sentry

gun and is currently developing it for commercial and military use that can be operated remotely,

and there is another popular one.

In the Luo et al. paper we find a [3] concept of recharging station for home robots. These

station consists of an automatic recharging device and a robot docking mechanism. In Song et al.

paper we find [4] a surveillance robot with automatic docking and recharging capabilities for

home security and implement the design of a simple semi‐circular recharging station.

Utilize top notch materials and highly accurate transmissions to get higher speed, accuracy,

and durability to work in a wide range of environments. Enhanced power management comes

through more advanced fuel cells, newly designed battery and charging systems. Configuring a

robot to ascend and descend obstacles in unstructured environments with ease is a design

challenge and cost more power. The system should be able to overcome both regularly shaped

obstacles such as stairs and those of an unspecified shape such as rocks, downed trees, and other

miscellaneous objects. Engineers must consider the centre of gravity, torque requirements to

ascend inclines, mass, and payloads when designing mobile robotic systems for military

purposes. In military applications, wearable robotics help the soldiers to carry a heavy pack load.

1.1. Existing Systems

In simple robot, steering algorithm is used for robotic actions in which driver or a human being

is controlling the robot using remote. Here driver is present, who can see the obstacle and navigate

robot accordingly, but there is a disadvantage in it if the driver couldn’t detect the obstacle due

to network problem or blurry image then the robot may collide with the obstacle.

1.2. Proposed System

It intelligently detects obstacles present on its path through the sensors, avoid it by moving

slightly backward and stops after the decision are made by the user on the basis of internal code

that we set for it. Unmanned Surveillance Vehicle is a robot, whose movement (forward,

backward, left, right, stop) can be controlled by an Android app (through HC-05 Bluetooth

module). It has an Android camera phone attached to it that can record video,

which can be seen live on a laptop or screen. It also has an ultrasonic sensor to measure

distance and avoid obstacles. The purpose of our research is to provide simpler robot’s hardware

architecture but with powerful computational platforms.

Unmanned Surveillance Vehicle Remotely Controlled by Android Application


2. HARDWARE PLATFORM

The hardware model of our research is shown in Figure 1, which consists of an Arduino, DC

Motors, Bluetooth module HC-05, Motor Driver L293D IC, 9 Volt Batteries& Battery

connectors, Power Bank,HC-SR04 Ultrasonic Module, Android Phone, Camera Mobile Phone

(Android) or Camera Module ,Chassis, Wheels, Motors, Jumper wires and connecting wires,

Breadboard

2.1. Arduino Uno

Figure 1 Arduino board

The Arduino Uno is an 8-bit microcontroller board based on the ATmega328.It has 14 digital

pins and 6 analog pins and other power pins such as, GND, VCC, It has 14 digital I/O pins, 6

analog Inputs, 16 MHz ceramic resonator, a USB connection, a power jack, an ICSP header, and

a reset button. It has SRAM 2kb and flash memory 32kb. EEPROM with 1KB. It contains

everything needed to support the microcontroller. We either need to connect it to a computer

using a USB cable or power it with an AC-to-DC (7-12v) adapter or a power bank. We have

powered the Arduino using a power bank. The power bank can power the Arduino for 6-10 days

(depending on the use of robot) before charging.

2.2. Android Phone

We are controlling the robot using Android Phone by using the USV application which we made

using MIT App Inventor 2. By installing the application and connecting it to HC-05 Bluetooth

Module we can move the robot in four directions i.e., forward, backward, left and right directions.

It also has a Stop button to stop the robot.

2.3. HC-SR04 Ultrasonic Sensor

Figure 2 HC-SR04 Ultrasonic Sensor module

Ultrasonic ranging module HC - SR04 which consist of 4 pins VCC, Trigger, Echo and GND

and provides 2cm - 400cm non-contact measurement function, the ranging accuracy can reach to

3mm. In our project we have use the Ultrasonic Sensor to detect the obstacle in front of it and

based on the distance of the obstacle from our bot it will send a signal to the arduino that is move

backward and stop the bot .Ultrasonic Sensor send sound waves which is produced due to

vibration of the membrane it strikes the obstacle and return back to sensor based on speed of

sound and return time of the echo signal it calculates the distance of the obstacle.


abdul mushahir


[5]Ultrasonic sensor measurements have some fundamental drawbacks which limit the

usefulness of these devices in a domestic environment or task that require high accuracy. These

drawbacks are not related to the product of a specific manufacturer, but are inherent to the

principle of ultrasonic range and their commonly used wavelengths.

Features:

Power Supply: +5V DC

Working Current: 15mA

Effectual Angle: <15degree

Ranging Distance: 2cm – 400cm/1’’- 13ft

Resolution: 0.3cm

Measuring Angle: 30 degree

Input pulse width: 10uS

Figure 3, 2-D projection from conical fields of ultrasonic sensor. The distance measurement d indicates

the existence of an object in the area

2.4. HC-05

Figure 4 HC-05 Bluetooth module

Bluetooth is a wireless technology which is use to transmit data to arduino from our mobile.

We use a Bluetooth module to achieve our purpose, the module is describe below,

The HC-05 module includes 26 MHz crystal, the Radio and Memory chips, 26 MHz crystal,

antenna and RF matching network.

KEY: If made HIGH before power is applied, forces AT Command Setup Mode. LED blinks

slowly (2seconds) VCC: +5Power

GND: System / Arduino Ground

TXD: Transmit Serial Data from HC-05 to Arduino Serial Receiver. NOTE: 3.3VHIGH level:

OK for Arduino

RXD: Receive Serial Data from Arduino Serial Transmit



STATE: Tells if connected or not.

[6][7] Bluetooth technology with dramatic increase in Smartphone users, smart phones have

gradually turned into an all-purpose portable device and provided people for their daily use.

2.5. L293D Motor Driver IC

Figure 5 L293D Motor Driver IC

Figure 6 H-Bridge

L293D is a typical Motor driver or IC which allows DC motor to drive on either direction.

We can control the two dc motor simultaneously using only one IC. It can

Control the dc motor in any direction. It works on the principal of H bridge circuit. [8]There are

two h-Bridge circuit inside the IC which will be able to rotate the two dc motor simultaneously

.If we look on one of the H bridge (Fig 4).On each side it has two diode .There are two cases

when the motor will rotate first when D2 and D3 is forward bias and when D1 and D4 is

forward bias. The motor will be idle in rest of the condition.

L293D has two enable pins which will drive the motor. PIN 1 and PIN 9 are used to drive the

motors.

2.6. DC Motor

[9] A DC motor is any of a class of rotary electrical machines that converts direct current electrical

energy into mechanical energy. A DC motor's speed can be controlled over a wide range, using

either a variable supply voltage or by changing the strength of current in its field windings.


abdul mushahir


2.7. CAMERA MOBILE PHONE OR CAMERA MODULE:

A camera module is an image sensor integrated with a lens, control electronics, and an interface

like CSI, Ethernet or plain raw low-voltage differential signalling. In our project, we are using a

camera mobile phone with the android app IP Webcam (available on Android Play Store). When

both the camera phone and the laptop (or Smart TV screen) are connected to a single hotspot, we

get the live feed of the Unmanned Surveillance Vehicle on the laptop screen or Smart TV screen.

Figure 7.Camera Module Figure 8 IP Webcam App

3. SOFTWARE PLATFORM

3.1. Arduino IDE Tool

The Arduino IDE (integrated development environment) is a Cross platform environment for

windows, mac OS and other operating System. It is written in java and is used to write and

upload programs to Arduino Board. The Arduino IDE supports languages C and C++ and other

different languages. It has a software library that has inbuilt input and output procedures .The

code written in the IDE is dumped into the arduino using the USB cable that is attached between

the arduino and our computer.



4. ALGORITHM

Figure 9 Algorithm Flow Chart

Fig.9 tells the working flow of our algorithm that we have used in this project. We will control

the robot using USV app which will be connected to the arduino. If the command is ‘S’ then 0000

will be sent to the L293D IC and .If the command is ‘R’ then 1001 will be written to L293D IC

and it will move to right. Similarly for command ‘L’,’B’,’F’ it will move left, backward, forward

respectively. Meanwhile if it detect obstacle using the ultrasonic sensor then it will automatically

move backward a little bit and stop. The robot will continuously send the live series of images to

the laptop screen.

Declare variables

Declare function

Declare the setup for the arduino

By calling setup ()

Initialize the sensors

Defining the pins of Arduino as i/o and o/p pins

Loop Start call loop ():

Reads the i/p from Serial Monitor

If input is ‘B’ via USV app

Call backward ()

End if

If input is ‘F’ via USV app

Call forward ()


abdul mushahir


End if

If input is ‘L’ via USV app

Call left ()

End if

If input is ‘R’ via USV app

Call right ()

End if

Send trigger (Low-High-Low) Pulse to Ultrasonic Sensor

Takes time when Echo is high

Calculate Distance=340*time

If the distance measure using sensor is less than 0.25m

Call backward ()

Generate delay of 250ms and Call stop ()

End if

End of loop

End function

Forward ():

It will apply 10, 10 signal to the H-bridges of L293D IC

End forward

Backward ():


End backward

Left ():


End left

Right ():


End right

Stop ():

It will apply 00, 00 or 11, 11 signal to the H-bridges of L293D

End Stop

End



5. WORKING

Figure 10 Block Diagram

Unmanned Surveillance Vehicle is a robot, whose movement (forward, backward, left, right,

stop) is controlled by an Android app (through HC-05 Bluetooth module).

It has an Android camera phone attached to it that can record video, which can be seen live

on a laptop or screen. It also has an ultrasonic sensor to measure distance and show it on the serial

monitor and avoid obstacles by forcing the robot to move slightly backward and then stop, after

which the user has the access to control the robot.

Bluetooth module is used to command the car using an android application form a

smartphone. The Bluetooth module receives the information/signal transmitted by the application

and then it further transfers and receives to the Arduino. 9V DC batteries have been used to supply

the power to the motor driver.

In our robot we also used a camera module (Used smartphone), it is connected to a hotspot

which is created by different phone which generates an IP which can be further shown on laptop

which is also connected to the same hotspot (as in smartphone).

6. EXPERIMENTAL EVALUATION AND RESULTS

Arduino is used as the microcontroller to control the robot body. Firstly, the hardware is

assembled on the chassis body which comprises of the arduino and a L293D chip, used to control

the motors. The robot follows the command and move in different direction based on the

command of the app. The ultrasonic sensor detect the obstacle and stops the robot and move

backward and stop and again wait for the user command through the app. The testing is done in

a wired medium where a USB cable is used to connect the laptop to the arduino board for sending

the necessary information.


abdul mushahir


Figure 11 USV App Front-End

Figure 12 USV App Back-End

Figure 13 Robot Body



Figure 14 Surveillance on PC

7. CONCLUSION AND FUTURE PROSPECT

This concept can be applied for unmanned vehicle system on roads by installing another

ultrasonic sensor at the back of the car. The robot can be modified for wall climbing purpose by

making the model light and by enhancing the gripping system.

In this project we have consider that obstacle will be present in front of the object only so that

robot can move backward easily without any collision. This can be removed by installing

another sensor in the back of the robot. Instead of camera module we have use mobile phone

here. We have use Bluetooth module to control the robot using app to increase the range we

have to use GPS technology

ACKNOWLEDGMENT

We would like to express our gratitude to our professor DR.VENUGOPAL.P who has

encouraged and providing the intellectual support and opportunity to complete this project.

REFERENCES

Proceedings Paper

[1] C.D. Nugent, D.D. Finlay, P. Fiorini, Y. Tsumaki, and E. Prassler, “Home automation as a

means of independent living,” IEEE Trans. Autom. Sci. Eng., vol. 5, no. 1, pp. 1‐9, Jan 2008

[2] Intelligent Surveillance Robot with Obstacle Avoidance Capabilities Using Neural Network

Widodo Budiharto, Computational Intelligence and Neuroscience Volume 2015, Article

ID 745823, 5 pages

[3] R.C. Luo, C.T. Liao, K.L. Su, and K.C. Lin, “Automatic docking and recharging system for

autonomous security robot,” in IEEE/RSJ International Conference on Intelligent Robots and

Systems, Edmonton, Canada, 2005, pp. 2953‐2958

[4] G.Song, H. Wang, J. Zhang,and T. Meng, “Automatic docking system for recharging home

surveillance robots,” IEEE Trans Consum Electron, vol. 57, no. 2, pp. 428‐435, 2011.

Journal Papers

[5] Borenstein, J., & Koren, Y. (1988). Obstacle avoidance with ultrasonic sensors. IEEE Journal

on Robotics and Automation, 4(2), 213–218. doi:10.1109/56.2085

[6] Piyare, R. and Tazil, M. (2011) “ bluetooth based home automation system using Android

phones”. IEEE 15TH International symposium on consumer electronics (ISCE), 14-17 june

2011, Singapure.


abdul mushahir


[7] Potts, J. and Sukittanon, S. (2012) “ Exploting bluetooth on android mobile mobile devices

for home security application”, proceedings of southeastcan, 15-18 March 2012, orlando,

florida,USA

[8] Murshed, S. Z., Dutta, A., Chatterjee, S., Mondal, I., Saha, A., Saha, S., … Das Gupta, S.

(2016). Controlling an embedded robot through image processing based object tracking using

MATLAB. 2016 10th International Conference on Intelligent Systems and Control (ISCO).

doi:10.1109/isco.2016.7726922

Book

[9] ntroduction to Robotics: Mechanics and Control Book by John J Craig

UNMANNED SURVEILLANCE VEHICLE REMOTELY CONTROLLED … · that we set for it. Unmanned Surveillance...

Documents

Transcript of UNMANNED SURVEILLANCE VEHICLE REMOTELY CONTROLLED … · that we set for it. Unmanned Surveillance...