RF Controlled Multi-Terrain Robot Designed to Travel on Water

Surface, Indoor and Outdoor Uneven Surfaces

V.Srimukhi B.J.Prem Prasanna Kumar, M.Tech D.V.S.Prasad, M.Tech
M.Tech (DECS), Associate Professor, Assistant Professor,
Sri Devi Womens College. Sri Devi Womens College. Sri Devi Womens College.

ABSTRACT:
This is a robot series utilizes four wheels for sailing.
It works on any indoor surface and outdoor surfaces.
This is an intelligent robot that can easily move on
uneven surfaces too. This robot uses RF technology
controlled by RF remote. This can be moved forward
and reverse direction using DC motors. Also this
robot can take sharp turnings towards left and right
directions. This project uses LPC2148 as its
controller.

The RF modules used here are STT-433 MHz

Transmitter, STR-433 MHz Receiver, HT12E RF
Encoder and HT12D RF Decoder. The switches are
interfaced to the RF transmitter through RF
Encoder. The encoder continuously reads the status
of the switches, passes the data to the RF transmitter
and the transmitter transmits the data.

This project uses 12V battery. This project is much

useful Military applications.
Existing system
Block Diagram: Transmitter Autonomous Guided Vehicle is new and innovative
concept. These vehicles are used for multi purpose.
This robot works with IR transmission – reception
principle. This vehicle can be moved using geared
motors without anybody’s control. Also this robot can
take sharp turnings whenever an obstacle is detected.
This project uses ATMEGA328 MCU as its controller.

This project has an IR transmitter and a receiver.

Whenever an obstacle is detected, the IR light will be
reflected, and received by the IR receiver. This sends a
signal to microcontroller and the direction of the robot
will be changed to avoid collision with the obstacle.

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In this project, L293D H-Bridge is used to drive the channels and 46 GPIO lines with up to 9 external
geared DC motor. The Device is a monolithic interrupt pins these microcontrollers are particularly
integrated high voltage, high current four channel suitable for industrial control, medical systems, access
driver designed to accept standard DTL or TTL logic control and point-of-sale. With a wide range of serial
levels and drive inductive loads (such as relays communications interfaces, they are also very well
solenoides, DC and stepping motors) and switching suited for communication gateways, protocol
power transistors. converters and embedded soft modems as well as
many other general-purpose applications.
To simplify use as two bridges each pair of channels is
equipped with an enable input. This project uses 12V
battery.

Figure: Architecture

ARM PROCESSOR:

Drawback: This robot cannot be controlled by us. It

takes own decision about the movement

Hardware modules
LPC2148 controller:
The LPC2148 are based on a 16/32 bit ARM7TDMI-
S™ CPU with real-time emulation and embedded trace
support, together with 128/512 kilobytes of embedded
high speed flash memory.
Figure: ARM7 board
A 128-bit wide memory interface and unique
accelerator architecture enable 32-bit code execution at RF TECHNOLOGY
maximum clock rate. For critical code size Radio frequency is a frequency or rate of oscillation
applications, the alternative 16-bit Thumb Mode within the range of about 3 Hz to 300 GHz. This range
reduces code by more than 30% with minimal corresponds to frequency of alternating current
performance penalty. With their compact 64 pin electrical signals used to produce and detect radio
package, low power consumption, various 32-bit waves Since most of this range is beyond the vibration
timers, 4- channel 10-bit ADC, USB PORT,PWM rate that most mechanical systems can respond to, RF

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usually refers to oscillations in electrical circuits. RF is DC motor
widely used because it does not require any line of A DC motor is an electric motor that runs on direct
sight, less distortions and no interference. current (DC) electricity.

PROPERTIES OF RF: DC Motor Connections

Electrical currents that oscillate at RF have special Figure shows schematically the different methods of
properties not shared by direct current signals. One connecting the field and armature circuits in a DC
such property is the ease with which it can ionize air to Motor. The circular symbol represents the armature
create a conductive path through air. This property is circuit, and the squares at the side of the circle
exploited by 'high frequency' units used in electric arc represent the brush commutator system. The direction
welding. Another special property is an of the arrows indicates the direction of the magnetic
electromagnetic force that drives the RF current to the fields.
surface of conductors, known as the skin effect.
Another property is the ability to appear to flow
through paths that contain insulating material, like the
dielectric insulator of a capacitor. The degree of effect
of these properties depends on the frequency of the
signals. Software tools
Keil compiler is a software used where the machine
language code is written and compiled. After
compilation, the machine source code is converted into
hex code which is to be dumped into the
microcontroller for further processing. Keil compiler
also supports C language code.

Transmitter Circuit

RF receiver

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Proload References
Proload is a software which accepts only hex files. [1] Adzly Anuar, Salman Yussof, Ismail Said, Jeffrey
Once the machine code is converted into hex code, that Tan Too Chuan, “The Development of an Autonomous
hex code has to be dumped into the microcontroller Personal Mobile Robot System for Land Mines
placed in the programmer kit and this is done by the Detection on Uneven Terrain”, Advanced Technology
Proload. Programmer kit contains a microcontroller on Congress 2003, Putrajaya
it other than the one which is to be programmed. This
microcontroller has a program in it written in such a [2]http://www.robofest.org.my/uploaded/rules/Surviva
way that it accepts the hex file from the keil compiler l/survivalspec.htm, Survival Robot – Robot
and dumps this hex file into the microcontroller which Specification, 2004
is to be programmed. As this programmer kit requires
power supply to be operated, this power supply is [3] Uwe D. Hanebeck, Nihad Šaldic, Günther Schmidt,
given from the power supply circuit designed above. It “A Modular Wheel System for Mobile Robot
should be noted that this programmer kit contains a Applications”, Proceedings of the 1999 IEEE/RSJ,
power supply section in the board itself but in order to International Conference on Intelligent Robots and
switch on that power supply, a source is required. Thus Systems, 1999
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Future Scope:
[7].Function - A New Perspective For Gaussian
This application can be implemented DTMF
Beams”, J.O.S.A A, 10,661[1] Adzly Anuar, Salman
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Development of an Autonomous Personal Mobile
Conclusion Robot System for Land Mines Detection on Uneven
In this project we have studied and implemented a Terrain”, Advanced Technology Congress 2013,
Multi-Terrain Robot Designed to Travel on Water Putrajaya
Surface, Indoor and Outdoor Uneven Surfaces with the
help of RF wireless communication.

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