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Unmanned Ground Vehicle for Military Purpose International Journal of Pure and Applied Mathematics Volume 119 No. 12 2018, 13189-13193 ISSN: 1314-3395 (on-line version) url: http://www.ijpam.eu Special Issue ijpam.eu UNMANNED GROUND VEHICLE FOR MILITARY PURPOSE SAINADH JASTHI Mrs.PONNAMMAL P Electronics & communication Engineering Assistant professor SRM Institute of Science And Technology Deparrtment of ECE Kattankulathur SRM Institute of Science And Technology Email:[email protected] Kattankulathur Email :[email protected] AKHIL CHERUKURI ADITYA SHASHANK NETI Electronics & communication Engineering Electronics & communication Engineering SRM Institute of Science And Technology SRM Institute of Science And Technology Kattankulathur Kattankulathur Email:[email protected] Email:[email protected] Abstract—Unmanned ground vehicle (UGV) is also called as self treat issues and are investing in this development of the self controlled robot which play an important role in military purposes, controlled robots to safeguard citizens from terrorism. However the demand for manual robots robots are on rise. UGV To be more precise, unmanned ground vehicle operates without work in more efficient way to counter terrorism and in far fields. human interference, i.e artificial intelligence comes into the need Unmanned ground vehicle support and augment soldiers life in for taking self decisions and navigate according to these battle fields. The capability of this robot mainly depends on decisions. This self decision of the robot can be achieved with protecting the soldiers or at least reduce the death tolls in wars. the help of GPS coordinates, magnetic compass to detect the Many research’s are extensively carried out in major parts of the obstacles in the mid journey and to self plan the new route by world to develop this prototype which work more efficiently in the robot itself. military activities and in counter terrorism. This Unmanned ground vehicle effectively works in the fields of border patrol, surveillance Unmanned ground vehicle is based on two basic robot and in war combats. This UGV mainly works in two different technologies combined into one unit and make it work modes, Automatic or self mode and Manual or in coordination with effectively. The first one is DRDO Daksh robot, which is human’s. In self mode , UGV is tasked to surveillance the border controlled by remote in locating the hazardous objects safely and between the two areas without the human instructions. This feature destroying them. This is achieved by the X-ray machine to locate can be attained by implementing GPS,Magnetic compass to metals and LED’s. It is also used for climbing staircases and measure the turning angles and adjust the route avoiding the scan vehicles for explosives. The second one is Foster-miller obstacles such as mountains, trees and rivers. This path planning TALON robot used to navigate through sand, water and even to strategy is the key program basic to work the robot in the self climb tress. So all these features are added up along with the self controlled mode. The complete working and setup are described in controlled operations to create a multitask robot which works the paper. effectively using path planning and obstacle detection. If it works as planned, the world can see a new era of robots with its Keywords- GPS - Geographical positioning system,Magnetic new defense system working for the betterment of the society Compass, Self controlled mode,Unmanned ground vehicle. and making earth a better place to live in. SELF CONTROL MODE INTRODUCTION An autonomous robot can work without human intervention. In the present scenario, the recent increase in terrorism has carved It gains information about the climatic conditions and operate the way to develop self controlled robots tremendously. This according to it using GPS coordinates. motivation has challenged the research scholars to invent an efficient robots for the war fields. This self controlled robots It learns the new knowledge frequently about the obstacle counter the emergency problems that present day people and detection and how to avoid them by planning a new path using soldiers are facing. Foe example, self robots work in handy the magnetic compass to measure the angles. It parallely adapts parallely with the soldiers in tracking the terrorist activities and can to the changing surroundings for accomplishing the new tasks. also work with police to help them find illegal activities occuring The block diagram for the self controlled mode is shown in the in the city and to find the culprits indulged in thefts and other figure 1. antisocial activities. Many countries are now aware of the serious A). BLOCK DIAGRAM OF SELF CONTROLMODE 13189 International Journal of Pure and Applied Mathematics Special Issue The specific function of each block in the figure are explained in detail. 1). COMMAND CONTROL STATION: The UGV is located away from the command control station and is controlled by keyboard and mouse for movement of the vehicles, monitoring the live video feedback and switching between the autonomous and manual modes. 2). INTERNET: This acts as a medium for the flow of commands from control station to the UGV to make it work wireless. 3). ON-BOARD SYSTEM: The computer in the UGV receives the commands from the control systems and operate accordingly. 4). CAMERA: The camera records the video of the path travelled by the UGV and FIG 1:BLOCK DIAGRAM OF SELF CONTRO MODE send to the control station for the users to access it. HARDWARE COMPONENTS REQUIRED FOR UGV 5). CONTROL UNIT: It is usually the micro controller that receives the signals Arduino micro controller from the user and other sensors and operate according to the Servo motor signals such as UGV movement and angle, obstacle DC motor detections. Zigbee radio modem Magnetic compass 6). GPS UNIT: GPS system Used for the autonomous mode for obtaining the source and Battery destination places for the UGV to travel between these places Obstacle detector and to plan the required path accordingly. Water detector Human sensor 7). MAGNETIC COMPASS: Camera It is used to obtain the angle for the UGV to take a turn IR sensor towards the destination co-ordinates. 8). IR SENSORS: Infrared sensors are used for detecting the metal objects like bombs, mines in the autonomous mode. 9). SERVO MOTOR: This is used to control the direction of the Unmanned control vehicle. 10). DC MOTOR: It is mainly used for UGV movement from one place to other place. 11). WIRELESS MODEM: Raspberry pi or zigbee module provides wireless data transfer to the control station from the on-board system. 12). BATTERY: Used for powering up the control unit and the zigbee module. 13190 International Journal of Pure and Applied Mathematics Special Issue FIG 4: OBSTACLE DETECTION ALGORITHM CODES FOR LEFT SIDE ‘1’ FIG2:FLOW CHART OF UNMANNED CONTROL VEHICLE RESULTS B). ALGORITHM DESIGN FOR SELF CONTROL MODE: We successfully built an unmanned ground vehicle which The algorithm design for self control mode is mainly achieved by functions automatically using magnetic compass, GPS two important factors called path planning and obstacle detection coordinates, path planning and obstacle detection algorithms. algorithms for the UGV to navigate accordingly. The user from the Technologies like zigbee, arduino, water sensor, human sensor, command station obtains the current GPS coordinates of the UGV metal sensor are been used and been implemented effectively. and also the destination coordinates to where UGV has to navigate. The directions are obtained by the magnetic compass by trigonometric functions by calculating the specific angle required CONCLUSION AND FUTURE WORKS by the UGV to move accordingly. Thus path planning algorithm decides the path taken by the UGV taking into account all these We successfully built a prototype that works automatically in measurements. Now, obstacle detection is done by the IR sensors self control mode using GPS antenna, magnetic compass, path that detect the obstacles like mountains, rivers and thus in parallel planning and obstacle detection algorithms. In this self control update the path planning measurements accordingly. It also detects mode, UGV is capable of been travelling automatically from one metals like bombs, metal objects those are buried in the ground and place to other place without human interference and navigation send this information to the command control station. Thus in self commands. It adjust its strategies and measurements ased on control mode, path planning and obstacle detection algorithms have path planning, obstacle detection, GPS antenna and magnetic to work in parallel in the most efficient manner based on all the compass. We strongly feel, self control robots are very helpful measurements. On the other side command control station obtains for miltary purposes that are operated outdoors. This UGV can all the measurements and signals from the UGV and coordinates undertake operations like surveillance, border patrol and in the robot continuously. Based on the path planning and obstacle active combat both as a standalone unit or automatic mode as detection algorithms the UGV navigates to the destination given by well as in coordination with human soldiers or in manual mode. the user itself automatically. The obstacle detection algorithm Our future work is on developing arm controlled mode or works according to following data shown in figure 3 and figure 4. gesture controlled mode along with the command control mode and
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