vmg presentation_mithileysh sathiyanarayananan
DESCRIPTION
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WELCOME ALL
Visual Modelling Group
Presentation on
Unmanned Ground Vehicle
MITHILEYSH SATHIYANARAYANANResearch Student
Visual Modelling Group, University of Brighton
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 or
called as Rover. It is called as UGV.• It is used in the field of Military applications,
Space applications, Navy, Crew, Gaming etc.
INTRODUCTION
PROJECT ABSTRACT
Command Control mode:• The UGV is controlled by commands given from the base
station (Computer/Laptop). [Manual mode]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 the 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 YOU