UNMANNED GROUND VEHICLE

A project report submitted in partial fulfilment of the requirement for the degree of

BACHELOR OF TECHNOLOGY
IN
ELECTRONICS & COMMUNICATION ENGINEERING
From

GAYATRI VIDYA PARISHAD COLLEGE FOR DEGREE & PG

COURSES
Submitted
by
A. RAVI KIRAN (315129212004)
D.SAI SOWMYA (315129212011)
SAI VARDHAN (315129212022)
HARSHA VARDHAN (315129212054)
Under the esteemed guidance of
Dr.S. KRISHNAVENI MAM MTech, PhD.
Head of The Department, E.C.E

DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING

ENGINEERING & TECHNOLOGY PROGRAM
GAYATRI VIDYA PARISHAD COLLEGE FOR DEGREE & P.G. COURSES (A)
RUSHIKONDA, VISAKHAPATANAM-530045.
(Approved by A.I.C.T.E, Affiliated to Andhra University)

An ISO 9001:2015 Certified Institute.

 DEPARTMENT OF ELECTRONICS & COMMUNICATION ENGINEERING
ENGINEERING & TECHNOLOGY PROGRAM
GAYATRI VIDYA PARISHAD COLLEGE FOR DEGREE & P.G. COURSES (A)
RUSHIKONDA, VISAKHAPATANAM-530045.
(Approved by A.I.C.T.E, Affiliated to Andhra University)

An ISO 9001:2015 Certified Institute.

CERTIFICATE

This is to certify that the project report titled "UNMANNED GROUND VECHILE" is
a bonafide work done by Mr. A. RAVI KIRAN bearing Regd. No. 315129212004, Ms.
D.SAI SOWMYA bearing Regd. No. 315129212011, Mr. V.SAI VARDHAN REDDY
bearing Regd.No. 315129212022, Mr. HARSH VARDHAN bearing Regd. No.
315129212054, under my guidance during the academic year 2018-19, in the
Department of Electronics &Communications Engineering, Engineering & Technology
Program, Gayatri Vidya Parishad College for Degree & P.G Courses, Visakhapatnam
in the partial fulfilment of the requirements for the award of the Degree of ‘Bachelor of
Technology’ in ‘Electronics and Communication Engineering’.

INTERNAL GUIDE HEAD OF THE DEPARTMENT

Dr.S. KRISHNAVENI M. Tech, PhD. Dr.S. KRISHNAVENI M.Tech PhD.
HEAD OF THE DEPARTMENT , E.C.E GVPCDPGC
GVPCDPGC
 ACKNOWLEDGEMENT

We express our deep sense of gratitude and respect to our guide Dr.S. Krishnaveni
mam, Head of the Department of Electronics and Communication for her wholehearted
co-operation, unfailing inspiration and valuable guidance. Throughout the work, her
valuable suggestions, constant encouragement has helped us a long way. We thank her
for giving her valuable time at odd hours and for the patience and understanding she
showed.
We express our sincere thanks to Prof. D. Saritha, Director (I/c), Engineering &
Technology Program for extending her utmost support and cooperation in providing all
the provisions for the successful completion of the project.
We also thank Dr. B. Madhukar Patnaik, Principal, for extending his utmost support
and cooperation in providing all the provisions for the successful completion of the
project.
With great solemnity and sincerity, we offer our profuse thanks to our management,
for provisions for successful completion of the project.
We sincerely thank all the teaching and non-teaching staff in the Electronic and
Communication Department for their sustained help in our pursuits.
We thank all those who contributed directly or indirectly in successfully carrying out this
work.

A. Ravi Kiran
D. Sai Sowmya
V. Sai Vardhan Reddy
Harsha Vardhan
 ABSTRACT

Some of the most prominent problems facing the world today are Terrorism and Insurgency.

Governments and scientists across the globe are working day and night in order to bring

these problems under control. Billions of dollars are spent by nations for the research of new

defence systems which are capable of safeguarding citizens from terrorist threats.

Nowadays with major advancements in the field of vehicle automation, several dangerous

and crucial counter terrorist operations are being handled by sophisticated machines which

are not only more efficient but are also responsible for saving several human lives.

Our project “Unmanned Ground Vehicle” is built to undertake missions like border patrol,

surveillance and in active combat in co-ordination with human soldiers (manual). It is a

prototype illustrating the ever-expanding need for sophisticated technology and precision

driven vehicles catering to the present day needs for a first line of defence. A person from a

remote place can comfortably control the motion of the robot wirelessly and in situations

where manual control is not prudent, the vehicle is capable of reaching the pre-programmed

destination on its own.

This defence system of ours has the control unit (to control mobility). This unit helps in

Manual. This robot is fixed with a camera so that the remote operator would be getting a live

video feed from the camera to help him manually control the rover. The rover is also

capable of lifting the injured soldiers in the battle field and get them back to the base station.

The manual modes of the rover are controlled by a human operator and live video is fed back

to the base station. The robotic arm will follow joystick or a mouse. There is an

Arduino micro controller and Bluetooth module (HC-05) which helps the soldier on war field

to control the rover wirelessly.

There is one onboard computer, which receives command from command centre control and
issues commands to the onboard microcontroller for controlling the servo motors and robotic

arm. The command centre control computer allows the remote user to see the direct video

stream and control the various features of the rover.

 TABLE OF CONTENTS

CHAPTER 1: INTRODUCTION
1.1 Tele-operated
1.2 Autonomous

CHAPTER 2: MOTIVATION
2.1 Foster-Miller Talon Unit
2.2 DRDO Daksh

CHAPTER 3: GENERAL BLOCK DIAGRAM

3.1 Block Diagram
3.2 Block Diagram explanation

CHAPTER 4: HARDWARE COMPONENTS

4.1 Arduino Microcontroller
4.2 Servo Motors
4.3 78xx Voltage Regulator
4.4 Lead Acid Rechargeable battery
4.5 WIFI cam

CHAPTER 5: SOFTWARE
5.1 Bluetooth SPP Pro
5.2 V380 Pro
5.3 Arduino IDE
5.4 Source Code

CHAPTER 6: UGV OPERATION

6.1 Command Centre Control mode

CHAPTER 7: APPLICATIONS

CHAPTER 8: RESULT

CHAPTER 9: CONCLUSION

CHAPTER 10: REFERENCES

CHAPTER 1: INTRODUCTION
An unmanned ground vehicle (UGV) is a military robot used to augment the soldier’s

capability. This type of robot is generally capable of operating outdoors and over a wide

variety of terrain, functioning in place of humans. UGVs have counterparts in aerial warfare

(unmanned aerial vehicle) and naval warfare (remotely operated underwater vehicles).

Unmanned robotics is actively being developed for both civilian and military use to perform

dull, dirty, and dangerous activities.

There are two general classes of unmanned ground vehicles:

1. Tele-operated

2. Autonomous.

1.1 Tele-operated:

A Tele-operated UGV is a vehicle that is controlled by a human operator at a remote location

via a communications link. All cognitive processes are provided by the operator based upon

feedback from either line-of-sight visual observation or remote sensory input such as

video cameras. A basic example of the principles of Tele-operation would be a toy remote

control car. Each of the vehicles is unmanned and controlled at a distance via a wired or

wireless connection while the user provides all control based upon observed performance of

the vehicle.

There are a wide variety of Tele-operated UGVs in use today. Predominantly these vehicles

are used to replace humans in hazardous situations. Examples are explosives and bomb

disabling vehicles.

1.2 Autonomous:

• Gain information about the environment.

• Work for extended durations without human intervention.

• Travel from point A to point B, without human navigation assistance.

• Avoid situations that are harmful to people, property or itself, unless those are part of

its design specifications

• Repair itself without outside assistance.

• Detect objects of interest such as people and vehicles.

A robot may also be able to learn autonomously. Autonomous learning includes the ability to:

• Learn or gain new capabilities without outside assistance.

• Adjust strategies based on the surroundings.

• Adapt to surroundings without outside assistance.

Autonomous robots still require regular maintenance, as with all machines.

CHAPTER 2: MOTIVATION
2.1 Foster-Miller TALON:

The Foster-Miller TALON robot is a small, tracked military robot designed for missions

ranging from reconnaissance to combat. Over 3000 TALON robots have been deployed to

combat theatres. Foster-Miller claims the TALON is one of the fastest robots in production,

one that can travel through sand, water, and snow (up to 100 feet deep) as well as climb

stairs.

The TALON transmits in colour, black and white, infrared, and/or night vision to its operator,

who may be up to 1,000 m away. It can run off lithium-ion batteries for a maximum of 7

days on standby independently before needing recharging. It has an 8.5-hour battery life at

normal operating speeds, 2 standard lead batteries providing 2 hours each and 1 optional

Lithium Ion providing an additional 4.5 hours. It can also withstand repeated

decontamination allowing it to work for long periods of time in contaminated areas.

Regular (IED/EOD) TALON: Carries sensors and a robotic manipulator, which is used by

the U.S. Military for explosive ordnance disposal and disarming improvised explosive

devices.

Special Operations TALON (SOTAL): Does not have the robotic arm manipulator but carries

day/night colour cameras and listening devices; lighter due to the absence of the arm, for

reconnaissance missions.

SWORDS TALON: For small arms combat and guard roles.

HAZMAT TALON: Uses chemical, gas, temperature and radiation sensors that are

displayed in real time to the user on a hand-held display unit. It is now being tested by the US

Armament Research Development and Engineering Centre ARDEC.

SWORDS or the Special Weapons Observation Reconnaissance Detection System is a

weaponized version being developed by Foster-Miller for the US Army. The robot is
composed of a weapons system mounted on the standard TALON chassis. The current price

of one unit is $230,000; however, Foster-Miller claims that when it enters mass production

the price may drop to between $150,000 and $180,000. Foster-Miller points out that in

comparison, to train a US soldier to a basic level of expertise with BCT and/or AIT would

cost $50,000 to $100,000.

SWORDS units have demonstrated the ability to shoot precisely. It is not autonomous, but

instead has to be controlled by a soldier using a small console to remotely direct the device

and fire its weapons. Foster-Miller is currently at work on a "Game Boy" style controller

with virtual-reality goggles for future operators.

Fig 2.1.1: The SWORDS system fitted Fig 2.1.2: Foster-Miller TALON SWORDS

withM249 SAW

2.2 DRDO DAKSH

Daksh is an electrically powered and remotely controlled robot used for locating, handling

and destroying hazardous objects safely. Daksh speaks for the ingenuity of the R&DE (E). It

is a battery-operated robot on wheels and its primary role is to recover improvised explosive

devices (IEDs). It locates IEDs with an X-ray machine, picks them up with a gripper-arm and

defuses them with a jet of water. It has a shotgun, which can break open locked doors, and it

can scan cars for explosives. Daksh can also climb staircases, negotiate steep slopes, navigate

narrow corridors and two vehicles. Alok Mukherjee, a scientist, said: "With a master control

station (MCS), it can be remotely controlled over a range of 500 m in line of sight or within
buildings. Ninety percent of the robot’s components are indigenous.

Fig 2.2.1: Daksh - Remotely Operated Vehicle developed by DRDO

CHAPTER 3: GENERAL BLOCK DIAGRAM

3.1 Block Diagram

CHAPTER 4: HARDWARE COMPONENTS

• ARDUINO UNO

• DC MOTORS

• VOLTAGE REGULATOR

• L293D DRIVER IC’s

• HC-05 BLUETOOTH MODULE

• WIFI CAMERA

• DC MOTORS

• ROBOT GRIPPER MODULE

• ROBOTIC ARM METAL GEARBOX MODULE

• 12V BATTERY

• POWER BANK

• CAPACITOR

• RESISTOR

• LED

• CONNECTING WIRES

• SCREWS AND NUTS

4.1 ARDUINO UNO
The Arduino Uno is a microcontroller board based on the ATmega328. It has 14 digital
input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz
ceramic resonator, a USB connection, a power jack, an ISP header, and a reset button. It
contains everything needed to support the microcontroller; simply connect it to a computer
with a USB cable or power, it with an AC-to-DC adapter or battery to get started. The Uno
differs from all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it features the Atmega16U2 programmed as a USB-to-serial converter.
• Microcontroller: ATmega328

• Operating Voltage: 5V

• Input Voltage (recommended): 7-12V

• Input Voltage (limits): 6-20V

• Digital I/O Pins: 14 (of which 6 provide PWM output)

• Analog Input Pins: 6

• DC Current per I/O Pin: 40 mA

• DC Current for 3.3V Pin: 50 mA

• Flash Memory: 32 KB (ATmega328) of which 0.5 KB used by boot loader

• SRAM :2 KB (ATmega328)

• EEPROM: 1 KB (ATmega328)

• Clock Speed: 16 MHz

4.1.1 Power to Arduino UNO

Power the Arduino Uno can be powered via the USB connection or with an external power
supply. The power source is selected automatically. External (non-USB) power can come
either from an AC-to-DC adapter or battery. The adapter can be connected by plugging a
2.1mm centre-positive plug into the board's power jack. Leads from a battery can be inserted
in the Ground and Vin pin headers of the POWER connector. The board can operate on an
external supply of 6 to 20 volts. If supplied with less than 7V, however, the 5V pin may
supply less than five volts and the board may be unstable. If using more than 12V, the voltage
regulator may overheat and damage the board. The recommended range is 7 to 12 volts. The
power pins are as follows:
• Vin: The input voltage to the Arduino board when it's using an external power source

(as opposed to 5 volts from the USB connection or other regulated power source).

You can supply voltage through this pin, or, if supplying voltage via the power jack,

access it through this pin.

• 5V: This pin outputs a regulated 5V from the regulator on the board. The board can

Be supplied with power either from the DC power jack (7 - 12V), the USB connector

(5V),or the VIN pin of the board (7-12V). Supplying voltage via the 5V or 3.3V pins

bypasses the regulator and can damage the board.

• 3.3 V: A 3.3-volt supply generated by the on-board regulator. Maximum current draw

is 50 mA.

• GND: Ground pins.

4.1.2 Pins of Arduino UNO

Input and Output Each of the 14 digital pins on the Uno can be used as an input or output,
using pin Mode(), digital Write() and digital Read() functions. They operate at 5 volts. Each
pin can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kilo-Ohms. In addition, some pins have specialized
functions:
• Serial: 0 (RX) and 1 (TX): Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the ATmega8U2 USB-to-TTL
Serial chip.
• External Interrupts; 2 and 3: These pins can be configured to trigger an interrupt on

a low value, a rising or falling edge, or a change in value.

• PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analog Write ()

function.
 • SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK): These pins support SPI

communication using the SPI library.

• LED: There is a built-in LED connected to digital pin 13. When the pin is HIGH
value, the LED is on, when the pin is LOW, it's off.
The Uno has 6 analog inputs, labelled A0 through A5, each of which provide 10 bits of
resolution (i.e. 1024 different values). By default, they measure from ground to 5 volts,
though is it possible to change the upper end of their range using the AREF pin and the
analog Reference () function. Additionally, some pins have specialized functionality:
• TWI: A4 or SDA pin and A5 or SCL pin. Support TWI communication using the
Wire library. There are a couple of other pins on the board
• AREF: Reference voltage for the analog inputs. Used with analog Reference ().

• Reset: Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.

Fig No.4.1.1 Arduino UNO

4.2 DC MOTORS
DC motors are electric motors that are powered by direct current (DC), such as from a battery
or DC power supply. Their commutation can be brushed or brushless. The speed of a brushed
DC motor can be controlled by changing the voltage alone. By contrast, an AC motor is
powered by alternating current (AC) which is defined by both a voltage and a frequency.

Fig No.4.2.1 DC MOTOR

Consequently, motors that are powered by AC require a change in frequency to change speed,
involving more complex and costly speed control. This makes DC motors better suited for
equipment ranging from 12VDC systems in automobiles to conveyor motors, both which
require fine speed control for range of speeds above and below the rated speeds.
An electric motor converts electrical energy into mechanical energy. Most electric motors
operate through interacting magnetic fields and current-carrying conductors to generate
force, although electrostatic motors use electrostatic forces.
Electric motors are found in applications as diverse as industrial fans, blowers and pumps,
machine tools, household appliances, power tools, and disk drives. They may be powered by
direct (e.g., a battery powered portable device or motor vehicle), or by alternating current
from a central electrical distribution grid.
Brushless DC motors use a rotating permanent magnet in the rotor, and stationary electrical
magnets on the motor housing. A motor controller converts DC to AC. This design is simpler
than that of brushed motors because it eliminates the complication of transferring power from
outside the motor to the spinning rotor. Advantages of brushless motors include long life
span, little or no maintenance, and high efficiency. Disadvantages include high initial cost,
and more complicated motor speed controllers
.
4.3 VOLTAGE REGULATOR
A voltage regulator is an electrical regulator designed to automatically maintain a constant

voltage level. A voltage regulator may be a simple "feed-forward" design or may

include negative feedback control loops. Depending on the design, it may be used to regulate

one or more AC or DC voltages. Here the capacitors are used for input and output filtering

purposes. We have used other voltage rating regulators as mentioned following the same

above structure (7812, 7809, and 7806). Electronic voltage regulators are found in devices

such as computer power supplies where they stabilize the DC voltages used by the

processor and other elements. In automobile alternators and central power station generator

plants, voltage regulators control the output of the plant. In an electric power distribution

system, voltage regulators may be installed at a substation or along distribution lines so that

all customers receive steady voltage independent of how much power is drawn from the line.

Fig No.4.3.1 7805 VOLTAGE REGULATOR

4.4 L293D MOTOR DRIVER IC
L293D is a typical Motor driver or Motor Driver IC which allows DC motor to drive on
either direction. L293D is a 16-pin IC which can control a set of two DC motors
simultaneously in any direction. It means that you can control two DC motor with a single
L293D IC. Dual H-bridge Motor Driver integrated circuit (IC).
It works on the concept of H-bridge. H-bridge is a circuit which allows the voltage to be

flown in either direction. As you know voltage need to change its direction for being able to

rotate the motor in clockwise or anticlockwise direction, Hence H-bridge IC are ideal for

driving a DC motor.

In a single L293D chip there are two h-Bridge circuit inside the IC which can rotate two dc

motor independently. Due its size it is very much used in robotic application for controlling

DC motors. Given below is the pin diagram of a L293D motor controller.

There are two Enable pins on l293d. Pin 1 and pin 9, for being able to drive the motor, the pin
1 and 9 need to be high. For driving the motor with left H-bridge you need to enable pin 1 to
high. And for right H-Bridge you need to make the pin 9 to high. If anyone of the either pin1
or pin9 goes low then the motor in the corresponding section will suspend working. It’s like a
switch. you can simply connect the pin16 VCC (5v) to pin 1 and pin 9 to make them high.

4.4.1 Working of L293D

There are 4 input pins for l293d, pin 2,7 on the left and pin 15 ,10 on the right as shown on

the pin diagram. Left input pins will regulate the rotation of motor connected across left side

and right input for motor on the right-hand side. The motors are rotated on the basis of the

inputs provided across the input pins as LOGIC 0 or LOGIC 1.

In simple you need to provide Logic 0 or 1 across the input pins for rotating the motor.

L293D Logic Table.

Let’s consider a Motor connected on left side output pins (pin 3,6). For rotating the motor in

clockwise direction the input pins has to be provided with Logic 1 and Logic 0.

• Pin 2 = Logic 1 and Pin 7 = Logic 0 | Clockwise Direction

• Pin 2 = Logic 0 and Pin 7 = Logic 1 | Anticlockwise Direction
• Pin 2 = Logic 0 and Pin 7 = Logic 0 | Idle [No rotation] [Hi-Impedance state]
• Pin 2 = Logic 1 and Pin 7 = Logic 1 | Idle [No rotation]

In a very similar way, the motor can also operate across input pin 15,10 for motor on the right

hand side.

4.4.2 Voltage Specification

VCC is the voltage that it needs for its own internal operation 5v; L293D will not use this

voltage for driving the motor. For driving the motors, it has a separate provision to provide

motor supply VSS (V supply). L293d will use this to drive the motor. It means if you want to

operate a motor at 9V then you need to provide a Supply of 9V across VSS Motor supply.

The maximum voltage for VSS motor supply is 36V. It can supply a max current of 600mA

per channel. Since it can drive motors Up to 36v hence you can drive pretty big motors with

this l293d.

VCC pin 16 is the voltage for its own internal Operation. The maximum voltage ranges from

5v and up to 36v. Don’t Exceed the Vmax Voltage of 36 volts or it will cause damage.
 Fig No. 4.4.1 L293D

H-BRIDGE:

An H-bridge is an electronic circuit which enables a voltage to be applied across a load in

either direction. These circuits are often used in robotics and other applications to allow DC

motors to run forwards and backwards. H bridges are available as integrated circuits, or can

be built from discrete components. The term H-Bridge is derived from the typical graphical

representation of such a circuit. An H bridge is built with four switches (solid-state or

mechanical). When the switches S1 and S4 (according to the first figure) are closed (and S2

and S3 are open) a positive voltage will be applied across the motor. By opening S1 and S4

switches and closing S2 and S3 switches, this voltage is reversed, allowing reverse operation

of the motor. The H-bridge arrangement is generally used to reverse the polarity of the motor,

but can also be used to 'brake' the motor, where the motor comes to a sudden stop, as

the motor's terminals are shorted, or to let the motor 'free run' to a stop, as the motor is

effectively disconnected from the circuit.

 Fig No. 4.4.2 H-BRIDGE

4.5 LEAD ACID BATTERIES

12 volt batteries range in capacity as low as 1 amp to over 200, fitting thousands of

applications. Each of these batteries are rechargeable, completely sealed, and maintenance

free; no need to maintain water levels! 12 volt sealed lead acid batteries are extremely

popular in backup power supplies, like APC UPS units. Other popular uses are emergency

lights, like exit signs, wheelchairs, security and alarm systems.

Fig No.4.5.1 LEAD ACID BATTERY

4.6 WIFI CAMERA

• Simple and easy Wi-Fi setup: quick Wi-Fi setup (does not support 5G Wi-Fi network)

via iOS or Android smartphone using supplied app, remote access to the camera on

smartphone via your mobile 4G network or Wi-Fi

• ROTATE CAMERA: Rotate camera horizontally or vertically from anywhere in

world thanks to inbuilt rotating motor. Record Videos in SD card as it has provision
 for SD card slot also. It supports up to 64 GB capacity Card. You can either choose to

record 24x7 or can do Alarm recording which means when motion is detected only

then recording will be done.

• Night vision and two-way audio: night vision up to 16-feet - never miss a moment,

day or night, with visibility up to 16 feet in complete darkness, communicate with

family, friends on mobile devices, talk to camera or listen to camera, there is no

distance to communicate with anyone

• Support Micro SD Card + LAN RJ4

Full HD 720P Resolution: The Camera's HD resolution quality can help you view the

targets clearly, and it offers 355 horizontal pan and 90 tilt which gives you a full view of any

corner of the room clearly. Night Vision: Built-in IR LEDs with ICR offer good night vision

of viewing and recording in complete darkness. 2-Way Audio & storage: This Camera has

Microphone and Speaker, so you can talk to your pet, baby, elder lively and listen to their

voice remotely. And you can use up to 64GB Micro SD Card to record and playback video

and audio. You can watch SD card recorded videos using playback option of app. Package:

Finicky World 1.3MP IP Camera Power Adapter Mounting Stand Mounting Screws User

Manual Important: This camera can work with a 2.4Ghz WiFi Router, Wifi Dongles (Jio,

Airtel, etc) but not with a 5.0Ghz. If you have a dual-band router, be sure to enable the

2.4Ghz signal.
4.7 BLUETOOTH MODULE

Wireless communications become a key driver of innovation for roboticists. Today, more
than ever, you can easily use mobile devices to control and receive data from a robot.
A Bluetooth module and a development board are basically what you need to create a
wirelessly communication channel with a robot. Since Arduino is the most used board to send
and receive data over Bluetooth most likely the wireless communication is done with an HC-05
module. The HC-05 module is familiar, cheap (Amazon) and designed for transparent wireless serial

connection setup with Bluetooth SPP (Serial Port Protocol).

This Bluetooth module covers 9 meters (30ft) of signals and works both as a master or as a

slave. For example, a robot can be designed to be a master connected to a slave Bluetooth

module or as a slave board to make a wireless connection with a PC.

This is also popular and very simple to set up with an Arduino board.

The module is suitable where wireless data transmission is needed in slave mode. The board
can be accessorized with a USB to TTL serial cable to connect to your PC. Like the HC-05,
the HC-06 module can reach a range of up to 9 meters (30 ft).
If you need a Bluetooth module to talk to your smartphone and an Arduino board, the HC-06

would work fine. But if you want to talk with another Arduino development board, the HC-

05 module is the way to go.

Fig No. 4.7.1 BLUETOOTH MODULE (HC-05)

CHAPTER 5: SOFTWARE REQUIRED

5.1 V380 Pro

This application is available for free which manage workings of IP cams from Smartphone.

This software work as video monitoring. It shows live HD video of the cam directly on your

Smartphone. With just one step, you can configure or add cam in the app. After adding cam in

the app you can see HD live streaming of that app in both horizontal and vertical mode.

5.3.1 Features of V380 Pro

V380 Pro is very easy to use. It uses internet connectivity to show real-time live video of the

camera. Furthermore, this application includes a recording feature. With recording and

playback feature of this app, you can see any previous video of the DVR. Moreover, you can

also take screenshots and listen to the audio of the video. This application support PTZ control

and communication with intercom. Just like other apps, it includes all tools and measurements

which are required for best surveillance security apps. V380 Pro app manages multiple cams

at the same time. Now you do not need to use a specific app for every DVR because this

application connects with IP cam of any maker. So, all in all, it is one of the best apps which

let you control the working of IP cams easily.

Just like Android Tablets and Smartphones. Now users can also install V380 Pro app on
Windows 7, Windows 8, Windows 10 and Mac OS. This application runs on PC with the
help of an Android Emulator. In this tutorial, you will see simple steps which let
you install V380 Pro for PC.
If you want to download and install V380 Pro for PC or Mac. The first thing you need to do
is to get an Android Emulator on your computer. By using Android Emulators such as NOx
App Player and Blue Stacks you can easily install V380 Pro for PC and Laptops.
After downloading the emulator. Find and Locate “Play Store App”. Enter your “Google
Account” to active Google Play Service. Now use the Play store “search”. Write “V380 Pro”
and select the app. Click “Install” button to begin Installation. Once installed, Click “open” to
run V380 Pro for PC.

Fig No. 5.1 V380 Pro Visual images

5.2 BLUETOOTH SPP PRO

The software for the Bluetooth client communication tools (ie: Bluetooth slave mode),
Bluetooth serial communication can be tested. Can connect a Bluetooth MCU and PC serial
port. Support android 4.0+ version of the system.

Hardware Features:

1. Serial Port Bluetooth Module( TTL )

2.Arduino Microcontroller Board

3.MCU serial communication

4.Can search for Bluetooth low energy devices (nothing more)

Software features:

1. Search for Bluetooth devices, and displays the class and RSSI (signal strength);

2. The use of serial communication, receiving and sending data;

3. Can be set to ASCII and HEX input and output mode;

4. The data results can be saved to the SD card(/SD card/Bluetooth spp pro/...).

5. Can search for Bluetooth low energy devices (nothing more)

This tool three modules:

1. Byte stream mode: the basic input-output model;

2. Keyboard mode: Can customize the output value of 12 buttons; Each button has three
States (respectively: Down | Long-press | Up), each state can send commands event.

3. Command Line: Set the command terminator for communication debugging.

If the connected Bluetooth device is not paired, the system will automatically prompt you for
pairing. Bluetooth pairing is successful, try to connect again.

This can only connect Bluetooth serial module devices, Bluetooth devices are generally used
for MCU serial communication.

System using the Bluetooth pairing means: [menu-> Settings -> Wireless and Network ->
Bluetooth Settings], open the Bluetooth feature, and to search for Bluetooth devices to pair,
paired with a device only once.

System Configuration (includes keyboard mode button settings) file can be found in the SD
card Bluetooth spp pro directory. You can back up the configuration file, or copy the
configuration file to another terminal equipment, covering his profile to complete recovery.

Special cases:

Non-normal end of the Bluetooth function, may lead to not be able to connect Bluetooth
devices such as this is the case, please restart the phone can often return to normal.

Fig No. 5.2.1 Fig No. 5.2.2

Fig No.5.2.3
5.3 ARDUINO IDE
Arduino IDE where IDE stands for Integrated Development Environment – An official
software introduced by Arduino.cc, that is mainly used for writing, compiling and uploading
the code in the Arduino Device. Almost all Arduino modules are compatible with this
software that is an open source and is readily available to install and start compiling the code
on the go.

• Arduino IDE is an open source software that is mainly used for writing and compiling the
code into the Arduino Module.

• It is an official Arduino software, making code compilation too easy that even a common
person with no prior technical knowledge can get their feet wet with the learning process.

• It is easily available for operating systems like MAC, Windows, Linux and runs on the
Java Platform that comes with inbuilt functions and commands that play a vital role for
debugging, editing and compiling the code in the environment.

• A range of Arduino modules available including Arduino Uno, Arduino Mega, Arduino
Leonardo, Arduino Micro and many more.

• Each of them contains a microcontroller on the board that is actually programmed and
accepts the information in the form of code.

• The main code, also known as a sketch, created on the IDE platform will ultimately
generate a Hex File which is then transferred and uploaded in the controller on the board.

• The IDE environment mainly contains two basic parts: Editor and Compiler where former
is used for writing the required code and later is used for compiling and uploading the
code into the given Arduino Module.

• This environment supports both C and C++ languages.

The IDE environment is mainly distributed into three sections

• Menu Bar
• Text Editor
• Output Pane

As you download and open the IDE software, it will appear like an image below.
 Fig No. 5.3.1 ARDUINO IDE
The digital Read and digital Write commands are used for addressing and making the Arduino

pins as an input and output respectively. These commands are text sensitive i.e. you need to

write them down the exact way they are given like digital Write starting with small “d” and

write with capital “W”. Writing it down with Digital write or digital write won’t be calling or

addressing any function.

In order to upload the sketch, you need to select the relevant board you are using and the

ports for that operating system.

• After correct selection of both Board and Serial Port, click the verify and then upload button
appearing in the upper left corner of the six button section or you can go to the Sketch
section and press verify/compile and then upload.

• The sketch is written in the text editor and is then saved with the file extension .ino.

It is important to note that the recent Arduino Modules will reset automatically as you compile

and press the upload button the IDE software

• Once you upload the code, TX and RX LEDs will blink on the board, indicating the desired
program is running successfully.

As you go to the Tools section, you will find a bootloader at the end. It is very helpful to burn

the code directly into the controller, setting you free from buying the external burner to burn

the required code.

5.4 SOURCE CODE:

int m1 = 12;

int m2 = 13;

int m3 = 6;

int m4 = 7;

int m5 = 8;

int m6 = 9;

int m7 = 10;

int m8 = 11;

int m9 = 2;

int m10 = 3;

int state;

int flag=0;

void setup()

pinMode(m1, OUTPUT);

pinMode(m2, OUTPUT);

pinMode(m3, OUTPUT);

pinMode(m4, OUTPUT);

pinMode(m5, OUTPUT);

pinMode(m6, OUTPUT);
 pinMode(m7, OUTPUT);

pinMode(m8, OUTPUT);

pinMode(m9, OUTPUT);

pinMode(m10, OUTPUT);

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

digitalWrite(m5, LOW);

digitalWrite(m6, LOW);

digitalWrite(m7, LOW);

digitalWrite(m8, LOW);

digitalWrite(m9, LOW);

digitalWrite(m10, LOW);

Serial.begin(9600);

void loop() {

if(Serial.available() > 0)

state = Serial.read();

flag=0;

if (state == 'A'||state == '1')

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);
 digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

if(flag == 0){

Serial.println("FORWARD");

flag=1;

else if (state == 'B'||state == '2')

digitalWrite(m2, HIGH);

digitalWrite(m1, LOW);

digitalWrite(m4, HIGH);

digitalWrite(m3, LOW);

if(flag == 0){

Serial.println("BACKWARD");

flag=1;

else if (state == 'D'||state == '4')

digitalWrite(m2, HIGH);

digitalWrite(m1, LOW);

digitalWrite(m3, HIGH);

digitalWrite(m4, LOW);

if(flag == 0){
 Serial.println("RIGHT");

flag=1;

else if (state == 'C'||state == '3')

digitalWrite(m1, HIGH);

digitalWrite(m2, LOW);

digitalWrite(m4, HIGH);

digitalWrite(m3, LOW);

if(flag == 0){

Serial.println("LEFT");

flag=1;

else if (state == 'E'||state == '5')

digitalWrite(m1, LOW);

digitalWrite(m2, LOW);

digitalWrite(m3, LOW);

digitalWrite(m4, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

}
 else if (state == 'F'||state == '6')

digitalWrite(m5, HIGH);

digitalWrite(m6, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == 'G'||state == '7')

digitalWrite(m5, LOW);

digitalWrite(m6, HIGH);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == 'H'||state == '8')

digitalWrite(m5, LOW);

digitalWrite(m6, LOW);

if(flag == 0){
 Serial.println("STOP");

flag=1;

else if (state == 'I'||state == '9')

digitalWrite(m7, HIGH);

digitalWrite(m8, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == '0')

digitalWrite(m7, LOW);

digitalWrite(m8, HIGH);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == 'j'||state == 'J')

{
 digitalWrite(m7, LOW);

digitalWrite(m8, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == 'K'||state == 'k')

digitalWrite(m9, HIGH);

digitalWrite(m10, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

else if (state == 'L'||state == 'l')

digitalWrite(m9, LOW);

digitalWrite(m10, HIGH);

if(flag == 0){

Serial.println("STOP");

flag=1;
 }

else if (state == 'M'||state == 'm')

digitalWrite(m9, LOW);

digitalWrite(m10, LOW);

if(flag == 0){

Serial.println("STOP");

flag=1;

}
CHAPTER 6: UGV OPERATION

6.1 Command Control Mode:

Description: -

The aim of this mode is to enable tele-communication of Unmanned Ground Vehicle uing

inputs which could vary from a simple computer keyboard to other self designed input

devices. The commands are sent over to the UGV remotely using wireless communication

such as Bluetooth while it transfers live video feedback to the user, using camera.

6.1.1 ALGORITH DESIGN:

USER SIDE:

• UP down Left and Right arrow keys have been assigned for rover movement.

• The keys pressed have been mapped into Specific characters which are sent as

Control signals to Arduino Controller.

• The Characters sent have their unique function assigned to them which is

shown.

UGV SIDE:

• UGV monitors serial input for the received characters and makes the

subsequent decisions.

• The following functions are executed in response to the character sent [

down(), left(), right(), halt()]

• We have provided Clockwise and anticlockwise pin assi

forward and reverse movement of the UGV

• Dedicated PWM signal pin for 80 - 120 degrees range of servo

maintained and H - Bridge Enable control is being utilized for braking.

Fig. 6.1.2 FLOW CHART FOR THE COMMAND CENTRE CONTROL
CHAPTER 7: APPLICATIONS

• RECONNAISSANCE- Also known as Scouting, is the military term for performing

a

preliminary survey, especially an exploratory military survey, to gain or collect

information
.
• BOMB DISPOSAL- Used in defusing and deactivating Explosives as a result
of

which an added feature a robotic arm can be added.

• SEARCH AND RESCUE-In times of Natural calamities or man based disasters,

it proves to be a reliable machine to locate people or objects with ease where it

renders human effort futile.

• BORDER PATROL AND SURVEILLANCE- In times of military warfare or

border encroachment, it is used to monitor alien force entering into the territory.

• ACTIVE COMBAT SITUATIONS- Widely used on the battlefield, UGVs

equipped with Explosives, Weaponry and shields have proven to be handy

expendables assets without the cost of human life

• STEALTH COMBAT OPERATIONS- Spying purpose without coming into the

radar of the enemy is effective in war strategies.

• NEW EXPLORATIONS – Deep cave searches, underwater explorations and

The currently executing Mars and outer planets exploration can be performed.

• To undertake dangerous missions which involves loss of human life.

CHAPTER 8: RESULT

• 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.

• We have made use of Modern communication advancement such as 3G services to

provide ease of access and portability to our UGV.

CHAPTER 9: CONCLUSION

The incorporation of various technologies under one roof has given us the path

to achieve goals which have never been realized in such an efficient manner in the

past. These technologies bring about a self relying and able machine to tackle

Situations on its own and ease a human’s job in the present day scenarios.
CHAPTER 9: REFERENCES

PAPERS:

• K.K.Soundra Pandian Member, IAENG and Priyanka Mathur,”Traversability

Assessment of Terrain for Autonomous Robot Navigation, “Proceedings of the

International MultiConference of Engineers and Computer Scientists 2010 Vol II,

IMECS 2010, March 17-19, Hongkong, ISBN: 978-988-18210-4-1.

• Saurav Kumar and Pallavi Awasthi, “Navigation Architecture for Autonomous

Surveillance Rover,” International Journal of Computer Theory and Engineering, Vol.

1, No. 3, August, 2009 1793-8201, Pg. 231-235.

• Mohd Azlan Shah Abd Rahim and Illani Mohd Nawi, “Path Planning Automated

Guided Robot,” Proceedings of the World Congress on Engineering and Computer

Science 2008, WCECS 2008, October 22 - 24, 2008, San Francisco, USA, ISBN:

978-988-98671-0-2.

• Boyoon Jung and Gaurav S. Sukhatme, “Real-time Motion Tracking from a Mobile

Robot,” International Journal of Social Robotics, Volume 2, Number 1, 63-78, DOI:

10.1007/s12369-009-0038-y

• Wenshuai Yua, Xuchu Yub, Pengqiang Zhang and Jun Zhou, “A New Framework of

Moving Target Detection and Tracking for UAV Video Application,” The

International Archives of the Photogrammetry, Remote Sensing and Spatial

Information Sciences. Vol. XXXVII. Part B3b. Beijing 2008

WEBSITES:

• http://en.wikipedia.org/wiki/Unmanned_ground_vehicle

• www.robotfrontier.com/papers/griffon-article.pdf