Title : DESIGN AND DEVELOPMENT OF UNMANNED THREE

WHEELER CONTROLLED BY INTERNET OF THINGS(IOT)

Batch Register No: Students Name Supervisor Name

No:

211716114118 SRI BALAJI E

C-2 211716114119 SRIDHAR V

Mr. S.VIVEK M.E
(Assistant Professor)
211716114141 VISWANATH K

Date:22/09/2020                                                                                       
Review:FINAL
CONTENT
• Abstract

• Introduction

• Literature Survey

• Scope and objective

• Methodology 

• Layout Diagram & working

• Software Implementation

• Design of UGV

•  Application 

• Cost estimation

• References
ABSTRACT

•  The aim of this project is to design and implement an Unmanned

Ground Vehicle(UGV), a vehicle that can be controlled remotely without
an onboard human presence. 
•  An arduino has been used as the brain of the vehicle with other
components such as DC and Servo motors, batteries, and motor
controller. The vehicle works on Command control mode in which the
operator from a remote place can comfortably controls the motion of the
vehicle wirelessly through an android device.
• There exists several potential practical applications of the UGV such as a
Titan Unmanned Ground Vehicle and a fire fighting robot. The idea can
be extended to fit into the untapped indoor commercial market such as
malls, hotels, banks, nursing homes, hospitals, offices, stores, schools,
museums and many more
INTRODUCTION
• An Unmanned ground vehicle (UGV) is being developed day by day in
different applications like military and civilian operations, surveillance,
border patrolling, law enforcement, hostage situation, and police for
some specific mission to detecting and diffusing bombs.UGV can be
controlled by an operator from remote site. Using sensors of UGV
operator can obtain critical information of the areas where human being
presence is impossible or risky.
• Internet of Things is the concept to connect objects between themselves
to share data. The shared information can come from human behavior or
external factors. This is made possible by connecting our objects using
electronic parts, sensors, software, and internet, or specific networks
created for IoT. Thus, data can be exchanged between objects, without
human action.
CONTROL MODES OF UGV

• Command centre control mode : Maneuver the UGV wireless by

transmitting navigation commands from the base station based on the
video received from the camera.
• Armcon mode: Control the UGV using the commands sent based on the
hand movements mapped by EMU unit.
•    Autonomous mode: Capable of travelling from the point A to point B
without human navigation commands. Adjust strategies based on
surroundings using obstacle detection algorithm 
• Raptor mode : Locate and elminate targets in the field vision using
motion tracking. Motion tracking is implemented through adavanced
image processing algorithms
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
Zain Murtaza*, Noaman Mehmood*, This paper proceeds with first presenting a Through this paper we were able to
Mohsin Jamil*, Yasar Ayaz*(2014). review on unmanned ground vehicles (UGV); understand the basic design
Design and Implementation of Low discussing some design approaches for approaches of the UGV
Cost Remote-Operated Unmanned implementation of a UGV according to the
Ground Vehicle (UGV). application perspectives. The main purpose of
this paper is to design and develop a low cost
remote operated ground vehicle. Various
sensors such as Camera, Global Positioning
System (GPS), ultrasonic range finder, digital
compass, motion sensor, infrared sensor are
installed on UGV.
ChristopherKwet Young Lam Loong The aim of this project is to design and With the help of this paper we used
Man a, Yogesh Koonjul a, Leckraj implement a low cost Autonomous Unmanned IR sensor to detect obstacles
Nagowah (2018). Ground Vehicle (AUGV), a vehicle that can be
A low cost autonomous unmanned controlled remotely without an onboard
ground vehicle . human presence. The AUGV is also able to
move autonomously while automatically
detecting and avoiding obstacles. The vehicle
also reads directions from QR codes, calculates
the shortest path to its destination and
autonomous move towards its final destination
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
Panayiotis Fofilos , Kyriakos-Isaak It is based on a simple tricycle chassis and it is From this paper we are able to
Xanthopoulos , Emmanuel-Athanasios powered by a high capacity automotive develop an microcontroller board for
Romanos Konstantinos Zikidis , battery, which provides adequate power for receiving and transmitting
Nikolaos Kanellopoulos . several hours of use. An electric motor moves commands.
An Unmanned Ground Vehicle for the vehicle quietly and efficiently, while the
Remote-Controlled Surveillance. vehicle motion controller is connected to a
small on-board laptop, receiving commands via
Wi-Fi. The combination of a common 12 Volt
battery and the electric motor provides a
reliable and relatively low cost solution to the
UGV mobility issue, minimizing maintenance
requirements.
Abdelhafid Bouhraoua , Necar Merah , This paper describes the design and This paper helps us to have a
Mansour AlDajani , and Mostafa implementation of a prototype teleoperated knowledge about camera interfaced
ElShafei (2010). unmanned guided vehicle (UGV) for security with an arduino
Design and Implementation of an applications. The designed UGV is remotely
Unmanned Ground Vehicle for Security controlled using high speed secure wireless
Applications. connection. The vehicle is provided with video
cameras and controlled pan and tilt motion.
The command and control computer translates
and sends the operator commands to an on-
board computer which in turn activates a
number of actuators and servo motors for full
control of the vehicle.
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT

Senthilkumar. D.,, Babu Natesan., In this paper, the development of a generic From this paper we were able to
Asokan. Shankar C. mathematical model for an unmanned, off- understand the wireless
Subramanian(2015). road tracked vehicle in tele-operation and its communication
Tele-operation of Unmanned Tracked simulation are presented. The tele-operation
Vehicles: Modeling and Simulation of system model is presented along with the
Planar Motion Dynamics. planar motion dynamics of the tracked vehicle.
Vehicle motion dynamics is subdivided into
longitudinal motion and angular motion
dynamics.
Douglas W. Gage(1995). . The purpose of this paper is to provide a brief With the help of this paper we
A Brief History of Unmanned Ground survey of a number of different threads of developed the UGV model.
Vehicle (UGV) Development Efforts. development that have brought the UGV field
to its current state, together with references to
allow the interested reader to probe more
deeply

GaurangKalgutkar,Poonam Wagh, The motor is operated in for quadrants i.e. Through this we were able to control
Hardik Chauhan, Amol Baviskar(2017). clockwise; counter clock-wise, forward brake the wiper motor and servo motor in
Wireless Controlling of DC Motor using and reverse brake. It also has a future of speed both forward and backward
Android Application. control. As per requirement as they can rotate direction.
in clockwise, counter- clockwise and also apply
brakes immediately in both the directions.
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
MD.Ajijul bin zabbari & Naafiz ahmed This project describes the design, simulation This paper helps us to Implement
chisty(2016). and manufacturing procedure of an Unmanned WIFI as an communication medium
Design & Implementation of an Ground Vehicle..(UGV) surveillance robot for controlling vehicle.
unmanned ground vehicle(UGV). which can be operated with a remote manually
within a range of 600 meter in open space. The
wireless controller is based on Radio
Frequency. It has been designed following the
design of a tank robot but it is not exactly like
the traditional tank robot. It can rotate 360
degree and can tilt 180 degree and after that it
can still work normally.
M.S.Zaghloul and Ahmed In this paper, we propose the controlling and Through this paper we were able to
Mohsen(2015). monitoring for unmanned ground vehicle understand the working of
Design and Implementation of Remote (UGV) based on wireless communications, the microcontroller with mechanical and
Operated UGV Based on GSM Maha design include sensors, GSM, Microcontroller, electrical devices.
sharks. Mechanical and electrical design. The designed
UGV contain many sophisticated-designed
systems such as navigation, obstacle detection
sensor, wheel activator for vehicle control and
network devices for communicationThe UGV is
equipped with IR sensors and camera for
obstacle detection and avoidance.
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
Hendri Maja Saputraa,and Midriem A four-channel Remote Control (RC) which is From this paper we used Eight bit
Mirdaniesa(2015). used to model aircraft can be modified to microcontroller module is added to
Controlling Unmanned Ground Vehicle control multiple DC motors and other devices give command reference value to
via 4 channel remote control. on Unmanned Guided Vehicle (UGV). Remote the transmitter module of the
remote control that will be sent to
control used in this paper is HobbyKing brand the receiver module.
that works at frequency 2.4 GHz. The algorithm
is implemented into the microcontroller
module using the C programming language
Akil Chrukuri ,Aditya Shashank Unmanned ground vehicle (UGV) is also called Through this paper we understand
neti,Sainadh jasthi, Mrs Ponnammal P as self controlled robot which play an the working of cameras , sensors
(2014). important role in military purposes. Unmanned present in the UGV
Unmanned Ground Vehicle for military ground vehicle support and augment soldiers
purpose. life in battle fields. This Unmanned ground
vehicle effectively works in the fields of border
patrol, surveillance and in war combats. This
UGV mainly works in two different modes,
Automatic or self mode and Manual or in
coordination with human’s. In self mode , UGV
is tasked to surveillance the border between
the two areas without the human instructions
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
Karsten Berns, Atabak Nezhadfard, This unmanned ground vehicles that can help This paper helps us to use IR sensors
Massimo Tosa, Haris Balta and Geert search and rescue teams in their difficult, but and camera in the UGV
De Cubber(2017) . life-saving tasks.The smaller unmanned ground
Unmanned Ground Robots for Rescue vehicle is also equipped with an array of
Tasks. sensors, enabling it to search for victims inside
semi-destroyed buildings. Working together
with each other and the human search and
rescue workers, these robotic assets form a
powerful team, increasing the effectiveness of
search and rescue operations, as proven by
operational validation tests in collaboration
with end users.
A.Abinaya, Mr. A.Jayakumar(2015). This paper describe the android smart phone From this paper we are able to
Unmanned Ground Vehicle Remote to control the unmanned ground vehicle. The develop an android application for
Controlled Robot for Security unmanned ground vehicle mainly used in Steering and acceleration control
Applications. secured places The controller can run the
software and touch the screen on the smart
phone to drive the vehicle. The vehicle is
connected via Bluetooth with help of smart
phone application software. When a person or
motor enters a monitored area, camera
capture the image which is continuously send
to the control room. Camera connected to
microcontroller keeps on capturing at the
secured places.
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
Tarun Debnath, AFM Zainul Abadin & The prototype and the whole system have From this paper we are able to
Md. Anwar Hossain(2018). implemented considering sufferings of the develop an android controlled UGV
Android controlled smart wheelchair people, who are dependent on the wheelchair
for disabilities. for their mobility Wheelchair operating
application has designed and developed in an
easier way so that the general people of our
country can easily drive this wheel chair.
M. Z. H. Noor, S. A. S. M. Zain, L. The main purpose of this research is to design We used LCD screen to display the
Mazalan(2013). and develop complete system of a remote- status of the Miccontroller in the
Design and Development of Remote- operated multi-direction Unmanned Ground UGV
Operated Multi- Direction Unmanned Vehicle (UGV). The development involved PIC
Ground Vehicle (UGV). microcontroller in remote-controlled and UGV
robot, Xbee Pro modules, Graphic LCD 84x84,
Vexta brushless DC electric motor and
mecanum wheels. This paper show the study
the movement of multidirectional UGV by
using Mecanum wheels with differences drive
configuration. The 16-bits Microchips
microcontroller were used in the UGV’s system
that embed with Xbee Pro through variable
baud-rate value via UART protocol and control
the direction of wheels.
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT
S.Siva Sai Kumar Reddy, R. Puviarasi, The project detects the objects totally different With the help of this paper, we used
S.R.Boselin Prabhu(2016). mate The servo motors as actuator give the linear actuators with arduino for
Automatic Material Sorting and Storing hand lightweight structure and low cost steering the vehicle
Machine using Arduino. prosthetic hand. This hand can be used as
prosthetic hand for trans radial prosthesis
because of its size and weight which approach
the human hand. The projected system
involves inductive proximity sensor(for metal
detector),capacitive proximate sensor(for
plastic detector), mini limit switch for sensing
weight and for sorting purpose linear motion
electrical actuators area unit used and that we
modified the system of manual power.
Ms.C.Hemalatha ,Mr.R.Nagarajan In this paper, proposed the new architecture Through this paper we understand
(2018). for control the BLDC motor, which uses a the working of motor controlled by
Brushless DC Motor Controlled by flexible industrial based Android smart phone IoT.
using Internet of Things. at a reasonable price and implemented by
Arduino as well as using web domain for
system control configuration. All Android
based smart phone and the industry access
device to control can use the phone, 3G or 4G
to access the Web page on hosting server
using Android App or web domain
 LITERATURE SURVEY
RELATED IMPLEMENTATION
PAPER DETAILS INFERENCE FROM THE PAPER IN PROJECT

Shruthi K(2017). The servo motors as actuator give the hand Through this paper Servo motor is
A Low Cost Prosthetic Hand using Flex lightweight structure and low cost prosthetic used for acceleration control which
Sensors and Servo Motors. The hand. The prosthetic hand also has seven grip in turn connected with throttle unit
proposed of the prosthetic hand is light patterns that enable it to do activities of daily
weight. living. It works just like a human hand
simulation, but with a lesser precision of
course.

Kalaiarasi, Pavithra.s,Pratheeba ,S The system has IR obstacle sensors for With the help of this paper we used
Priyaadharshini R(2014). avoiding obstacles coming in its path. We IR sensor to detect obstacles and
IoT based motion control system of present the architecture and design of WIFI as an communication medium
a robotic car. arduino communication and how to control for controlling vehicle
the car by means of commands and
application.

G.Kiruthikamani, B.Abinayaa, This system provides control over the vehicle From this paper we understood
B.Saranya, P.Devi and R.Gayathri even after it is stolen. It provides security to working of IoT in Modern
(2016). vehicle by locking the doors and stopping the Application.
Smart vehicle safety system using vehicle movement. To restart the vehicle and
Aurdino. unlock the door command has to be sent from
mobile. It makes stolen vehicles recovery easy
and fast. You can locate your stolen vehicle
easily using your mobile without any extra
cost.
SCOPE OF THE PROJECT

• There exists several potential practical applications of the UGV such

as a Titan Unmanned Ground Vehicle and a fire fighting robot..
• The concept can be expanded to fit in with the untapped urban indoor
market such as malls, hotels, banks, nursing homes, hospitals, offices,
stores, schools, museums, and much more.
OBJECTIVE

• To mount linear actuator, servo motor and wiper motor  for steering,
acceleration and braking.
• Using Proteus Simulation Tool 7.0 we combined microcontroller with
transistor,t-relay,Smps to co-simulate the complete microcontroller based
design.
• C program has been developed to create control algorithm to establish a
link between components and microcontroller
• Android application is created to control UGV through WIFI
• Camera setup is installed to record the path travelled and send to the
cloud storage for the user to control UGV. 
METHODOLOGY
CONCEPT SELECTION

DESIGN HARDWARE REQUIREMENT

DEVELOPMENT SOFTWARE DESIGN

FABRICATION ARDUINO & WIFI MODULE

EMBEDDED WITH HARDWARE

NO TESTING

YES
STEERING AND
ACCELERATION CONTROL
LAYOUT DIAGRAM
WORKING
COMMAND CONTROL STATION:
• The UGV is located away from the command control station and is
controlled by android for movement of the vehicles, monitoring the live
video feedback. 
INTERNET:
• This acts as a medium for the flow of commands from control station to
the UGV to make it work wireless.
CAMERA:
• The camera records the video of the path travelled by the UGV and send
to the control station for the users to access it.
LINEAR ACTUATOR:
• This is used to control the direction of the Unmanned control vehicle.
CONTROL UNIT:
• It is usually the micro controller that receives the signals from the user
and operate according to the command received.
ON-BOARD SYSTEM:
• The wifi module ESP8266 in the UGV receives the commands from the
control systems and operate accordingly. It consists of 32 bit low
powered CPU , and follows 802.11b/g/n Wifi standards
SERVO MOTOR:
• This is used to control the acceleration of unmanned ground vehicle
DC MOTOR:
• It is mainly used for UGV movement from one place to other place.
WIPER MOTOR:
• This is used to control the braking of unmanned ground vehicle.
WIRELESS MODEM:
• wifi module provides wireless data transfer to the control station from the
on-board system.
BATTERY:
• Used for powering up the control unit and wifi module.
DESIGN OF UGV
Mechanical Design
APPLICATIONS

1.Unmanned ground vehicle for fortification in Army

2.Unmanned ground vehicle with pick and place robot in industries
3.UGVs for seed sowing
4.Titan UGV
 COST  ESTIMATION
S.no Component Quantity Price (₹)
1 Linear actuator 2 10000
2 Wiper motor 1 2000
3 Servo motor 1 400
4 Arduino 1 500
5 Battery-12v 2 2000
6 Microcontroller 1 500
7 T-Relay 10 750
8 Camera module 1 800
9 IR-sensor 1 100
10 Fabrication   4000
11 miscellaneous   3000
TOTAL:- ₹24050\-
REFERENCES

1. D. W. Gage: UGV HISTORY 101: A Brief History of Unmanned Ground Vehicle (UGV) Development
Efforts, Unmanned Systems Magazine, Summer 1995, volume 13, number 3
2. Abdelhafid B.,Necar M., Mansour A, Mostafa E,. “Design and Implementation of an Unmanned
Ground Vehicle for Security Applications” 7th International Symposium on Mechatronics and its
Applications (ISMA10), Sharjah, UAE, April 20- 22, 2010.
3. Panayiotis Fofilos , Kyriakos-Isaak Xanthopoulos , Emmanuel-Athanasios Romanos Konstantinos
Zikidis , Nikolaos Kanellopoulos . An Unmanned Ground Vehicle for Remote-Controlled
Surveillance.
4. Zain Murtaza*, Noaman Mehmood*, Mohsin Jamil*, Yasar Ayaz*(2014). Design and
Implementation of Low Cost Remote-Operated Unmanned Ground Vehicle (UGV).
5. Gawli, Parinay Karande INTERNET OF THINGS (IOT) BASED ROBOTIC ARM Kaustubh G ISSN: 2395
-0056 Volume: 04 Issue: 03 | Mar -2017.
6. Kalaiarasi, Pavithra.s,Pratheeba ,SPriyaadharshini R(2014). IoT based motion control system of a
robotic car.
7. ArduinoDevelopmentBoardsonline:http://www.ar duino.cc/
8. Tarun Debnath, AFM Zainul Abadin & Md. Anwar Hossain(2018). Android controlled smart
wheelchair for disabilities.
9. ChristopherKwet Young Lam Loong Man a, Yogesh Koonjul a, Leckraj Nagowah (2018). A low cost
autonomous unmanned ground vehicle.
10. Karsten Berns, Atabak Nezhadfard, Massimo Tosa, Haris Balta and Geert De Cubber(2017) .
Unmanned Ground Robots for Rescue Tasks
Thank You