Special Issue Published in International Journal of Trend in Research and Development (IJTRD),

ISSN: 2394-9333, www.ijtrd.com

Surveillance Rover Based on Arduino
1
K.Saravanakumar, 2B.Harimarugan, 3U.Rajkanna
1,2
UG Scholar, 3Assistant Professor,
Department of Electronics and Instrumentation
Dr.Mahalingam College of Engineering and Technology, Pollachi, Tamilnadu, India

Abstract – The revolution in smart phones and android
application plays a major role in wireless control applications.
In this work a rover is developed for surveillance purpose
using Arduino and controlled through smart phone
application. This rover is mounted with wireless camera
which transmits the AV (Audio Video) signals at the speed of
30 frames / second and covers distance upto 10m. This rover
is powered by 12V/3A battery for the supply. The power
consumption of the rover is discussed in this work. The
Bluetooth technology based android application is used to
control the movement of the rover according to the video
signal sent by the camera.
Keywords: Arduino, Bluetooth, Rover, Surveillance, Wireless
camera
I. INTRODUCTION
For surveillance activity in remote areas wireless sensor
nodes and rovers were introduced. The wireless sensor nodes
have issues related to power consumption, shortest path
identification, selection of alternate route in case of node
failures etc., To overcome these issues, rovers were
introduced in military and industrial surveillance applications
to collect the data from various sensor nodes and it is also
implemented in other applications like Obstacle avoidance
[1,2], Path identification [3,4], Bomb Search and disposal [5],
Gardener [6], people surveillance [7], Inspection [8] etc.
[9,10]Rovers were developed using LPC2148 processor, PIC
microcontroller, AVR controllers etcIn this application
Arduino board with ATMEGA 328P was used. The
development in Arduino boards reduces the complexity level
of the programming and provides easy interfacing with other
peripherals. Similarly android application based GUI
(Graphical User Interface) helps to monitor and control the
status of the rover at less effort.[11].
II. HARDWARE DESIGN
In this work, Rover moves throughout the bounded region
for surveillance activity. This mobile rover is developed using
Arduino UNO. Bluetooth module and wireless camera were
interfaced with this Arduino for controlling the direction of
the rover and for surveillance. The direction of DC motor
rotation in rover is controlled using driver L293D. Bluetooth
is connected to the UART terminal of the Arduino UNO. The
device can be controlled up to 10m in range. The wireless
camera transmits the data directly to receiver end. The video
and audio signals are transmitted at the frequency range of
0.9/1.2 GHz. The block diagram 1 shows the overall
arrangement of the setup.
UNO is a microcontroller board equipped with ATMEGA
328P, which is an 8 bit microcontroller. It has a flash memory
of 32KB. It has inbuilt ADC, PWM, Timer/counter, UART
and has 14 GPIO pins etc.
The direction of Rover is controlled by Bluetooth module
HC-102 which is interfaced to UART pin of the Arduino
UNO. It’s a 5 pin module +5V, GND, Tx, Rx and Key. The
Tx pin of HC-102 is connected with Rx pin of Arduino and
Rx pin of HC-102 is connected with Tx pin of Arduino.
Bluetooth android app (Blueterm) in smart phone is used to
control the direction of the rover.
To acquire the transmitted AV signal the connector cable
is used. The output of the connector may give to the external
devices like projector, LED screen etc., The output so
obtained on the screen is used to navigate the rover.

In this work the rover was developed using Arduino UNO

board and controlled through the wireless technique i.e.
Bluetooth. Bluetooth technology provides the feasibility to
pair this device with maximum of 8 devices at an instant for
control purpose. To avoid unnecessary pairing with other
devices, the authenticated key is given to the users. As other
wireless technology, it transmits the data at the frequency of
2.4GHz. To avoid the interference with other Bluetooth
devices, the signal spread-spectrum frequency hopping
technique is followed which changes the data transmission Figure 1: Overall Block diagram
frequency for 1600 times in a second between the rover and
mobile phone. It has the maximum coverage of 10m and The wireless A/V camera is placed over the rover. This
consumes maximum power of 1mW. It transmits the data at camera capture has sensitivity of +18dB at transmitting and
the speed of 736 bps. The wireless A/V camera transmits the receiving side. The captured images were sent to the receiver
data to the receiver end by its own antenna. section at the rate of 30 frames/second and the video and
audio signals were sent at frequency of 0.9 / 1.2 GHz and this
wireless camera transmits the signal up to the range of 100m.
The key concern in developing a rover is power
In this work, 16 pin L293DNE driver IC is used to control
consumption. By considering this issue low power consuming the direction of two DC motors available in the mobile rover.
processor and less density codes are preferable. In this work, DIRA and DIRB are the direction pins available to control the
the power analysis of rover is discussed. motor direction and separate enable pins (EN1 and EN2) are
provided to control the directional pins of the driver IC. The
following table 1 indicates the operation of driver IC.

National Conference on Emerging Trends in Electronics, Instrumentation, Automation & Control (ETEIAC) organized by
Department of EIE, Karpagam College of Engineering, 11th Mar 2016 80 | P a g e
 Special Issue Published in International Journal of Trend in Research and Development (IJTRD),
ISSN: 2394-9333, www.ijtrd.com
Table 1 Directional Pins of L293DNE
Enable DI DI OPERATIO
Pin RA RB N
H H L Forward
H L H Reverse
H H/L H/L Stop
L H/L H/L Stop

III. PROCESS FLOW

The controller waits to receive the control signal from the
mobile phone. The controller checks the received signal and Figure 3: Overall arrangement of the setup
alters the path of the rover. The Pseudo code incorporated in
the operation of rover is as follows. Figure 2 indicates the rover arrangement and Figure 3
indicates arrangement of the entire setup.
Step 1: Wait for control signal
Step 2: If control signal =1, the 2 DC motors rotate in Power analysis: Total voltage drop in a battery for the rover
forward direction after 1 hour is 0.156V and current rating of the battery is 3
Step 3: Else if the control signal = 2, DC motor 1 rotates in Ah.
forward direction and DC motor 2 stops rotation (Forward
right turn) Power consumption for an hour
Step 4: Else if the control signal = 3, DC motor 2 rotates in
forward direction and DC motor 1 stops rotation (Forward = Voltage drop * current rating of the battery
left turn) = 0.156 * 3
Step 5: Else if the control signal = 4, DC motor 1 and 2 = 0.468Wh
rotates in reverse direction
Step 6: Else if the control signal = 5, DC motor 1 rotates in Memory Analysis: For better life of the rover, size of the
reverse direction and DC motor 2 stops rotation (Reverse program should be low. So that only 3KB (2994 bytes) of
right turn) flash memory is utilized from 32KB for this purpose.
Step 7: Else if the control signal = 6, DC motor 2 rotates in CONCLUSION
reverse direction and DC motor 1 stops rotation (Reverse
left turn) In this proposed system the rover was developed using
Step 8: Else if the control signal = 7, DC motor 1 & 2 stops Arduino UNO and can be introduced in the remote or
Step 9: Else case remain in the last condition hazardous area where human beings cannot dwell for the
purpose of surveillance thereby saving lives and liberating the
Table 2 shown below indicates the control signal and the user from the rule of complex circuitries earlier involved in
respective direction of the rover. surveillance. The experimental results signify that the
Table 2: Control Signal and respective direction of the rover developed rover satisfies the minimum requirements like
lifetime, power consumption and response rate. Android
Control DC DC based Mobile applications can be developed which could view
Direction
Signal Motor 1 Motor 2 the images obtained via the receiver in the mobile screen for
1 F F Forward improved data interpretation and surveillance.
Forward Right
2 F H
Turn
Forward Left Reference
3 H F
Turn
4 R R Reverse [1] Limin Ren, Weidong Wang, Zhijiang Du, “A New
R H
Reverse Right Fuzzy Intelligent Obstacle Avoidance Control
5
Turn Strategy for Wheeled Mobile Robot”, Proceedings of
Reverse Left 2012 IEEE, International Conference on Mechatronics
6 H R
Turn and Automation, Chengdu, China, pp. 1732-1737,
7 H H Stop August 5 – 8, 2012.
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Figure 2: Rover Arrangement
pp. 61-67, 22-23 October 2012.
[5] Ali UNLUTURK, Omer AYDOGDU, “Design and
Implementation of a Mobile Robot used in Bomb

National Conference on Emerging Trends in Electronics, Instrumentation, Automation & Control (ETEIAC) organized by
Department of EIE, Karpagam College of Engineering, 11th Mar 2016 81 | P a g e
 Special Issue Published in International Journal of Trend in Research and Development (IJTRD),
ISSN: 2394-9333, www.ijtrd.com
Research and Setup Disposal”, Electronics,
Computers and Artificial Intelligence (ECAI), 2013
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National Conference on Emerging Trends in Electronics, Instrumentation, Automation & Control (ETEIAC) organized by
Department of EIE, Karpagam College of Engineering, 11th Mar 2016 82 | P a g e