“Unmanned Ground

Vehicle”
Group Members

 Guruprasad Gurdas Bhawgat (401604)

 Nitinkumar Ramesh Pardhi (400704)
 Sahil Sunil Tandlekar (401004)

Project Guide

Prof. Sagar Dhawale

Contents

 Introduction
 Problems Statement
 Motivation
 Objectives
 System Architecture
 3D Model
 System Requirements
 Specifications
 References
 Introduction

 An Unmanned Ground Vehicle (UGV) is a vehicle that operates while in

contact with the ground and without an onboard human presence.
 UGVs can be used for many applications where it may be inconvenient,
dangerous, or impossible to have a human operator present.
 It pass the information to a human operator at a different location who will
control the vehicle through Tele-Operation.
 Unmanned robotics are being actively developed for both civilian and military
use to perform a variety of activities.
 Problems Statement

 In Existing world there are many surveillance vehicles but this Vehicles are either Bulky
or they are Large in size.
 This vehicles are generally Noisy which can be Easily spotted anytime & anywhere.
 This Vehicles are human operated which are sometimes difficult to handle in unknown
and Hazardous Environment.
 The experience with this Ground vehicle in terms of reliable operation has been
unsatisfactory, and quite poor when compared to traditional industrial robots .
 So by developing Unmanned Ground Vehicle we can overcome above circumstances.
 Motivation

 From Various Military Unmanned Ground

Vehicles such as:
 Daksh is an electrically powered and remotely
controlled robot used for locating, handling and
destroying hazardous objects safely.

 Muntra is an unmanned armored vehicle

 developed by DRDO. Three variants
exist: Muntra-S for surveillance, Muntra-M for
mine clearing, and Muntra-N operating in
nuclear or chemical contaminated zones.
Objectives

 To undertake dangerous missions which

involves loss of human life.

 For Border patrol and surveillance.

 For Search and Rescue Operations.

 For New Explorations.

System Architecture
3D Model
FRONT VIEW
BACK SIDE VIEW
System Requirements

 Boards: Arduino Board, Motor driver

 Motors: Geared DC motors

 Battery: 12V Li-Po Battery

 RC Transmitter and Receiver

 FPV camera
 Long range FPV Transmitter and Receiver
 FPV LCD display
 Software: Arduino IDE
 Specifications

1. Motor

 Geared DC Motor
 400 RPM
 Dimensions: 3.9 x 2.4 x 1.6 inches
 Weight: 200 gm
2. Battery

 Power :12 Volt

 Capacity:2200MAH
 Size : About 25*34*105MM 
 Weight : About 182g
3. FPV Camera

 Sensor: 1/3 "CMOS

 Camera size: 28 * 24.5 * 17.5mm
 Electronic Shutter Speed : 1/50-1/100
 With lens cover , well protecting the lens
 Net Weight: 10.4g
 Super lightweight , low power consumption
 Lens: 2.8mm IR coated
4. FPV Camera Transmitter

 Antenna Gain: 2db

 Frequency: 5.8GHz
 Power Input: 7.4-16V 
 Working Current: 220mA at 12V
 Weight: about 22g
 Transmitting Range : up to 5km in open ground
 Dimension: 54x 32x 10mm(excluding antenna)
5. FPV Camera Receiver

 Antenna Gain: 2db

 Antenna Impedance: 50Ω
 Video Format: NTSC/PAL auto
 Power Input: 12V
 Working Current: 200mA max
 Dimension:  80x 65 x15mm
 Weight: about 85g
6. FPV LCD Display

 Screen Size: 4.3"(16:9)

 Dimensions:115mm x 76mm x 25mm
 Resolution: 482*272 Pixels
 Power Supply: DC 12V
 Visible Area: 96mm x 54mm
 Power: <=3W
 2-channel video input:V1/V2 auto switching(V1 display first )
7. RC Transmitter & Receiver

 Band-Range: 2.4055 – 2.475GHz

 Charging Port : Yes
 Low Voltage Warning :Yes(at less than 9V)
 No. of Channels : 6
 Operating Voltage12V DC (1.5AA x 8 Battery)
 Dimensions (mm): LxWxH:189 x 97 x 295
 Weight (gm):511
 References
Sr.N Publication Work conducted so far Drawbacks
o
1. R. Ikhankar, V. Kuthe, S. Ulabhaje, S. This project can be extended further by As raspberry Pi does not
Balpande, M. Dhadwe, "Pibot: The raspberry making the robot accessible via the have an integrated Wi-Fi.
pi controlled multi-environment robot for internet. This can be implemented by User has to buy the Wi-Fi
surveillance & live streaming", 2015 making a android/iOS/windows phone adapter or something like
International Conference on Industrial app and then controlling it via the that to connect to the
Instrumentation and Control (ICIC), pp. 1402- same. network wirelessly
1405, 2015
2. M. Selvam, "Smart phone based robotic The project is designed to control a Working area is limited
control for surveillance applications", Dept. of robotic vehicle using an android due to the Bluetooth
ECE Karpagam University Coimbatore Tamil application. Bluetooth device is connectivity.
Nadu International Journal of Research in interfaced to the control unit on the
Engineering and Technology (2014). robot for sensing the signals
transmitted by the android application.
3. DEVELOPMENT OF A LOW COST This paper describes the At every time step, the
DIFFERENTIAL DRIVE INTELLIGENT GROUND implementation of an intelligent UGV artificial intelligence (AI)
VEHICLE Nathir A. Rawashdeh, Laith M. based on an electric wheelchair with block starts
Alkurdi, Hudhaifa T. Jasim differential drive executing as soon as data
April 10-12, 2012 is acquired from the
camera image which
Sr.N Publication
o
4. J. Borenstein, A. Borrell, R. Miller, and D.
Thomas. Heuristics-enhanced dead-reckoning
(HEDR) for accurate position tracking of tele-
operated UGVs. In Proceedings of the SPIE,
volume DS117, Orlando, April 2010
5. B. Abdelhafid, M. Necar, A. Mansour, E.
Mostafa, "Design and Implementation of an
Unmanned Ground Vehicle for Security
Sharjah, UAE, April, 2010
6. Saurav Kumar and Pallavi Awasthi, “Navigation
Architecture for Autonomous Surveillance
Rover,” International Journal of Computer
Theory and Engineering, Vol. 1, No. 3, August,
2009
7. S. Lee, S. Yoon, H. J. Kim, and Y. Kim; “Wireless
Stereo Vision System Development for Rotary-
wing UAV Guidance and Control”,, Nov. 30 –
Dec. 3, 2008, Tainan, Taiwan, pp 168-173.
Work conducted so far
To improve the reliability of locating
UGVs in indoor environments, we
are developing an extremely
accurate position tracking system
for small, tele-operated robots.
A server PC has been used as the
main gateway for controlling and
communicating with the vehicle.
The system is supplied with two
pan/tilt cameras, rifle/gun control,
and many fail-safe features.
In this paper we presented
navigation architecture for a
surveillance robot. The work can be
extended to detect faces using
different more advanced machine
learning based algorithm.
Regular wireless LAN technology
has been used as the
communication medium.
Drawbacks
A simulation study evaluated
two common failure
techniques: rollover and
manipulator joint torque
saturation.
However, this project aims at
proving the technology transfer
process and demonstrate local
capabilities rather that
producing a working product.
Uses conventional approach to
first convert a 2D occupancy
map to a 3D information and
then finally fusing with 3D Map
from Stereo Vision Camera as
then the computation time and
complexity increases which
makes it difficult to use in real
time.
Although the vehicle is
provided with six batteries, the
power issue was found to be
most challenging. The main
cause for drainage of power
was the on-board computer.
Sr.N Publication
o
8. J. Ortiz, et al.; “Description and tests of a
multisensorial driving interface for vehicle
teleoperation”, in Proceedings of the 11th
International IEEE Conference on Intelligent
Transportation System, October 12-15, 2008,
Beijing, China, pp 616-621
9. S.J. Lee, D. M. Lee and J. C. Lee; “Development
of Communication Framework for Unmanned
Ground Vehicle”, in Proceedings of the
International Conference on Control
Automation and Systems, Oct. 14-17, 2008,
Seoul, South Korea, pp 604-607
10. M. Sugiura, et. al., “Development of
unmanned ground vehicle for IGVC JAUS
challenge”, SICE Annual Conference 2008,
August 20-22, 2008, The University Electro-
Communications, Japan, pp 2719-2722.
11. H, Moon, J. Kim, J. Kim, "obstacle detection
system for unmanned ground vehicle using
laser scanner and vision" South Korea, 2007
Work conducted so far
focused on the design and control
for reliability of robots and
autonomous ground vehicles,
The designed UGV is remotely
controlled
using high speed secure wireless
connection. The vehicle is
provided with video cameras and
controlled pan and tilt motion.
Automated steering and braking
control. The cameras will be
mounted on commercial pan and
tilt
GPS and XBEE module added. And
also various types of sensors
interfaced.
Drawbacks
Navigation challenges, power
limitations, and the ground-
vehicle inter-
face can cause significant
reliability issues
Range of communication is
limited to 250 meter and video
quality is poor and transmit
speed is 1.5 Mbps.
Battery life is limited and heavy
vehicle.
Circuit complexity increased.
Sr.N Publication Work conducted so far Drawbacks
o
12. S.S. Mehta et. al. “Adaptive Vision-Based GPS and Ultrasonic sensors are System is complex and bulky
Collaborative Tracking Control of an UGV via a added to vision and tracking
Moving Airborne Camera: A Daisy Chaining
Approach”, in Proceedings of the 45th IEEE
Conference on Decision & Control, San Diego,
CA, USA, December 13-15, 2006, pp 3867-
3872
13. X. Feng et. al., “Enhanced Supervisory Control Silent operation of drives, use of Range of communication is
System Design of an Unmanned Ground low noise motors. limited and video quality is
Vehicle”, in Proceedings of the 2004 IEEE poor
lntemational Conference on Systems, Man and
Cybemetics, October 10-13, 2004, The Hague,
The Netherlands, pp 1864-1869.

14. D. Voth, “A New Generation of Military Robots”, A smaller robot used for explosive-  slow speeds makes them easy
IEEE Intelligent Systems, Volume 19, Issue 4, ordnance disposal and search and targets. 
Jul-Aug 2004, pp 2 – 3. reconnaissance is iRobot's
teleoperated PackBot.
15. N. Tomatis et al, “Building a Fully Autonomous It offers enhanced interactivity and the paths generated by
Tour Guide Robot: Where Academic Research autonomous navigation with a NF1(Navigation Software) have
Meets Industry”, Proc. Int. Symp. On Robotics, completely self-contained robot and a very poor geometry.
Stockholm, Sweden, 2002.   without requiring changes of the
environment.
Thank You