DESIGN AND DEVELOPMENT OF UNMANNED THREE

WHEELER CONTROLLED BY INTERNET OF THINGS

A PROJECT REPORT

Submitted by

E. SRI BALAJI 211716114118

V. SRIDHAR 211716114119

K. VISWANATH 211716114141

In partial fulfilment for the award of the degree

of

BACHELOR OF ENGINEERING

IN

MECHANICAL ENGINEERING

RAJALAKSHMI IN STITUTE OF TECHNOLOGY

CHENNAI-600 124.

ANNA UNIVERSITY: CHENNAI-600 025

MARCH 2020
i
 ANNA UNIVERSITY :: CHENNAI 600 025

BONAFIDE CERTIFICATE

Certified that this project report “DESIGN AND DEVELOPMENT OF

UNMANNED THREE WHEELER CONTROLLED BY INTERNET OF
THINGS” is the bonafide work of E. SRI BALAJI (211716114118), V.
SRIDHAR (211716114119), K. VISWANATH (211716114141) who carried
out the project work under my supervision.

SIGNATURE SIGNATURE

Dr. R. RAGU, M.E., Ph.D., Mr. S VIVEK, M.E.,

HEAD OF THE DEPARTMENT SUPERVISOR

Mechanical Department, Mechanical Department,

Rajalakshmi Institute of Rajalakshmi Institute of

Technology, Kuthambakkam post, Technology, Kuthambakkam post,

Chennai 600 124. Chennai 600 124.

Certified that the candidate was examined viva-voice in the examination held
on.........................

INTERNAL EXAMINER EXTERNAL EXAMINER

ii
 ACKNOWLEDGEMENT
We express our gratitude towards our chairperson Dr.(Mrs.) Thangam
Meganathan, chairman Mr.S.Meganathan, B.E., F.I.E., and our beloved
principal Dr.M.Velan, who have constantly encouraged us in all aspects and
chiseling us as a successful engineer.

We express our heartfelt thanks to Dr. R. Ragu, Professor and Head,

Department of Mechanical Engineering for giving valuable guidance,
constant support and encouragement to complete our project successfully.

We express our thanks to Prof. P.S. Rajeswaran, Dean, Department

of Mechanical Engineering for providing us valuable inputs and guidance to
complete our project successfully. We are highly indebted to our project guide
Mr.S.Vivek , M.E.,Assistant Professor, Department of Mechanical
Engineering for his valuable guidance and suggestion in every stage of our
project and to make our project a successful one.

Our sincere thanks to our project coordinator Mr.Siva

Shanmugam,Assitant Professor, Department of Mechanical Engineering
for his valuable suggestions and modifications in our project.

We would like to appreciate the guidance given by the other supervisors as

well as the panel members especially in our project presentation that has
improved our presentation skills by their comment and tips.

Last but not the least, we express our gratitude towards Anna University,
Chennai for including this subject in our curriculum.

Finally, we thank our beloved parents for their valuable contribution and
guidance towards the success of our project.

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 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
together 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 operated . 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

iv
 TABLE OF CONTENT
CHAPTER TITLE PAGE
NO NO
ABSTRACT v

LIST OF FIGURES v

LIST OF TABLES vi

1 INTRODUCTION 1
1.1 APPLICATION 4
1.2 CONTROL MODE OF UGV 6
1.2.1 COMMAND CENTRE CONTROL MODE 6
1.2.2 ARMCON MODE 6
1.2.3 AUTONOMOUS MODE 6
1.2.4 RAPTOR 6
1.3 INTERNET OF THINGS 7
1.3.1 IOT ENABLERS 7
1.3.2 CHARACTERISTICS OF IOT 9
1.3.3 MODERN APPLICATION 10

2 LITERATURE REVIEW 16

3 METHODOLOGY 20

4 COMPONENT DESCRIPTION 21
4.1 LINEAR ACTUATOR 21
4.2 WIPER MOTOR 21
4.3 SERVO MOTOR 21
4.4 T RELAY 22
4.5 PIC MICROCONTROLLER 22

v
 4.6 ESP8266 WIFI MODULE 22
4.7 SMPS 23
4.8 LCD DISPLAY 23
4.9 IR SENSORS 23
4.10 ARDUINO 24
4.11 CAMERA 24
4.12 BATTERY 24

5 DESIGN OF UGV 25
5.1 MECHANICAL DESIGN 25
5.2 AUTOCAD 25
5.3 3D VIEW 27

6 ARCHITECTURE OF UGV 28
6.1 COMMAND CONTROL STATION 28
6.2 INTERNET 28
6.3 CAMERA 29
6.4 CONTROL UNIT 29
6.5 ON-BOARD SYSTEM 29
6.6 LINEAR ACTUATOR 30
6.7 SERVO MOTOR 30
6.8 DC MOTOR 30
6.9 WIPER MOTOR 31
6.10 WIRELESS MODEM 31
6.11 BATTERY 31
6.12 ARDUINO 31
6.13 T- RELAY 32
6.14 IR SENSOR 32

vi
7 SOFTWAREW IMPLEMENTATION 33
7.1 ANDROID APPLICATION OPERATED 33
THROUGH WIFI
7.2 PROTEUS 7.0 SIMULATION TOOL 33
7.3 CCS COMPILER 34
7.3.1 CCS C COMPILER FEATURES 35

8 PROJECT IMAGES 36
8.1 CIRCUIT CONNECTIONS 38

9 FUTURE SCOPE 39
9.1 APPLICATIONS 39

10 PROGRAMMING 40

11 COST ESTIMATION 46

12 CONCLUSION 47

13 REFERENCES 48

vii
 LIST OF FIGURES
FIGURE TITLE PAGE
NO NO
1.1 TITAN UGV 1
1.2 ARMED ROBOTIC VEHICLE 1
1.3 AUTOMATED TRIAL VEHICLE 2
1.4 RHEINMETALL UGV 3
1.5 TALON ROBOT 4
1.6 SECURITY SURVEILLANCE ROBOT 4
1.7 SECURTY GUARD ROBOT 5
1.8 SECURITY PATROL ROBOT 5
1.9 REMOTE OPERATED 6
1.10 SMART AGRICULTURE 7
1.11 SMART IRRIGATION SYSYTEM 9
1.12 ROBOTIC ARM 10
1.13 INDUSRIAL IOT APPLICATION 11

3.1 METHODOLOGY FLOW CHART 20

4.1 LINEAR ACTUATOR 21

4.2 WIPER MOTOR 21
4.3 SERVO MOTOR 21
4.4 T RELAY 22
4.5 PIC MICROCONTROLLER 22
4.6 ESP8266 WIFI MODULE 22
4.7 SMPS 23
4.8 LCD DISPLAY 23
4.9 IR SENSORS 23
4.10 ARDUINO 24

viii
4.11 CAMERA 24
4.12 BATTERY 24

5.1 FRONT ASSEMBLE 25

5.2 ISOMETRIC VIEW 26
5.3 3D VIEW 1 27
5.4 3D VIEW 2 27

6.1 LAYOUT OF UGV 28

6.2 CONTROLLER BOARD 29

7.1 APPLICATION OUTLOOK 33

8.1 LINEAR ACTUATOR SETUP 36

8.2 LINEAR ACTUATOR 37
8.3 WIPER MOTOR 37
8.4 SERVO MOTOR CIRCUIT 38
8.5 LINEAR ACTUATOR CIRCUIT 38

9.1 UPCOMING UGV 39

12.1 COMPLETED UGV 47

ix
 LIST OF TABLES
TABLE TITLE PAGE
NO NO
6.1 SPECIFICATION OF WI-FI MODULE 29
6.2 SPECIFICATION OF LINEAR ACTUATOR 30
6.3 SPECIFICATION OF SERVO MOTOR 30
6.4 SPECIFICATION OF WIPER MOTOR 31
6.5 SPECIFICATION OF BATTERY 31
6.6 SPECIFICATION OF ARDUINO 31
6.7 SPECIFICATION OF T-RELAY 32
6.8 SPECIFICATION OF IR SENSOR 32

11.1 COST ESTIMATE 46

x
 CHAPTER 1

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. It has the ability to
detect obstacle .UGVs are also effective to monitor environmental extremes like
heat, cold, contamination of chemical, biological and nuclear .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.

Fig 1.1 Titan UGV Fig 1.2 Armed robotic vehicle

Unmanned mobile robots are actively being developed for both civilian and
military use to perform dull, dirty, and dangerous activities. They proved to be
effective in a large number of circumstances where the use of human labour is too
expensive, the task is risky, or it is impractical for human capability. There are two
general classes of unmanned mobile vehicles: Teleoperated, like the one

1
described in the present work, and Autonomous. A teleoperated, or unmanned
guided vehicle (UGV), is a vehicle that is controlled by a human operator at a
remote location via a communications

Fully autonomous UGVs have seen extensive

development driven by the DARPA Grand Challenge competition . Although
some of these solutions are at a very advanced stage, they are still undergoing
tests and their deployment is yet to be seen. On the contrary, remotely
controlled UGVs have already made it to the deployment phase. This type of
vehicles is also seeing a proliferation of developed solutions especially in the
lightweight to medium weight sizes .

Fig 1.3 automated trial vehicle

These issues can be grouped in the following aspects: communication aspect,

control aspect, obstacle avoidance aspect, base station issues and vision systems
development. Reliability and system robustness issues are also interesting aspects
to consider. Although, some of the works relate to autonomous branch of the
UGVs (or UAVs), its nature applies perfectly to remotely controlled UGVs.

Research and development of UGV is often focused on specific

applications and are therefore designed accordingly. The ability to be customized
or reconfigured and function in an unstructured, outdoor environment is a desired
feature of robotic platforms. Among the recently proposed specialized applications
are the military vehicles for tactical reconnaissance and explosive disposal
missions. The US Department of Defense is planning to replace a third

2
of its armed vehicles and weaponry with robots by 2015. Such systems are
expected to minimize the operations cost and combat casualty survey.

Fig 1.4 Rheinmetall UGV

The present paper describes the design, construction, testing and

implementation of a UGV for security applications using the latest wireless
computer communications and carefully designed mechanical and electronic
systems for effective control and manoeuvring. The system is supplied with two
pan/tilt cameras, rifle/gun control, steering/speed/brake management, and many
fail-safe features. The prototype was thoroughly and critically evaluated, and
suggestions for the next generation design

In this paper the proposed UGV can perform remote operation and
some autonomous operation. This UGV robot can survive and monitor the place,
collect and send information to the operator and also can operate some primary
missions by remote control. By smart sensing of angle the robot can detect whether
it tilting more than 45 degree. If it tilt more than 45 degree then will go backward
automatically. If any how the robot tilted 180 degrees then it will adjust its logic
automatically with the remote command as it was doing previously.

3
1.1 APPLICATIONS

Fig 1.5 TALON ROBOT

Fig 1.6 SECURITY SURVEILLANCE ROBOT

4
Fig 1. 7 SECURTY GUARD ROBOT

Fig 1.8 SECURITY PATROL ROBOT

5
1.2 Control Modes of UGV

1.2.1 Command Centre Control mode

Maneuver the UGV wirelessly by transmitting navigation commands from the

base station based on the video received from the on-board camera. Control the
turret wirelessly in order to locate and eliminate targets in the field of vision.

1.2.2 Armcon mode

Control the UGV using commands sent based on hand movements mapped by
the IMU unit

1.2.3 Autonomous mode

Capable of travelling from point A to point B without human navigation

commands.Adjust strategies based on surroundings using obstacle detection
algorithms.

Fig 1. 9 remote operated

1.2.4 Raptor mode

Locate and eliminate targets in the field vision using motion tracking.Motion
tracking implemented through advanced image processing algorithms

6
1.3 INTERNET OF THINGS

Internet of Things (IoT) is the networking of physical objects that contain

electronics embedded within their architecture in order to communicate and sense
interactions amongst each other or with respect to the external environment. In the
upcoming years, IoT-based technology will offer advanced levels of services and
practically change the way people lead their daily lives. Advancements in
medicine, power, gene therapies, agriculture, smart cities, and smart homes are just
a very few of the categorical examples where IoT is strongly established.
Over 9 billion ‘Things’ (physical objects) are currently connected to the Internet,
as of now. In the near future, this number is expected to rise to a whopping 20
billion. The Internet of Things isn’t just about wearable technology and smart
voice assistants. In the industrial world, IoT devices are transforming the way
companies like Airbus and Caterpillar operate behind the scenes.

Fig 1.10 Smart agriculture

7
There are four main components used in
IoT 1.Low-power embedded systems
Less battery consumption, high performance are the inverse factors play a
significant role during the design of electronic systems.

2. Cloud computing
Data collected through IoT devices is massive and this data has to be stored on
a reliable storage server. This is where cloud computing comes into play. The
data is processed and learned, giving more room for us to discover where things
like electrical faults/errors are within the system.
3. Availability of big data
We know that IoT relies heavily on sensors, especially real-time. As these
electronic devices spread throughout every field, their usage is going to trigger
a massive flux of big data.
4. Networking connection
In order to communicate, internet connectivity is a must where each physical
object is represented by an IP address. However, there are only a limited
number of addresses available according to the IP naming. Due to the growing
number of devices, this naming system will not be feasible anymore.
Therefore, researchers are looking for another alternative naming system to
represent each physical object.

There are two ways of building IoT

1. Form a separate internetwork including only physical objects.
2. Make the Internet ever more expansive, but this requires hard-core
technologies such as rigorous cloud computing and rapid big data storage
(expensive).

8
 Fig 1.11 Smart irrigation system

1.3.1 IoT Enablers

 RFIDs: uses radio waves in order to electronically track the tags attached
to each physical object.
 Sensors: devices that are able to detect changes in an environment (ex:
motion detectors).
 Nanotechnology: as the name suggests, these are extremely small devices
with dimensions usually less than a hundred nanometers.
 Smart networks: (ex: mesh topology).
1.3.2 Characteristics of IoT
 Massively scalable and efficient
 IP-based addressing will no longer be suitable in the upcoming future.
 An abundance of physical objects is present that does not use IP, so IoT is
made possible.
 Devices typically consume less power. When not in use, they should be
automatically programmed to sleep

9
 Fig 1.12 Robotic arm
 A device that is connected to another device right now may not be
connected in another instant of time.
 Intermittent connectivity – IoT devices aren’t always connected. In order to
save bandwidth and battery consumption, devices will be powered off
periodically when not in use. Otherwise, connections might turn unreliable
and thus prove to be inefficient.
As a quick note, IoT incorporates trillions of sensors, billions of smart systems,
and millions of applications.

1.3.3 Modern Applications:

1. Smart Grids
2. Smart cities
3. Smart homes
4. Healthcare
5. Earthquake detection
6. Radiation detection/hazardous gas detection

10
 Fig 1.13 Industrial IOT Application
7.Smartphone detection
8.Water flow monitoring

11
 CHAPTER 2
LITERATURE REVIEW

This literature survey is organised as follows. The next section will provide a
survey of recent work on advanced control techniques applied to UGVs, electric
vehicles, and mobile robots. It provides a survey of different ways of perception
using the most recent sensors and techniques that can enhance the acquired data
from the sensors. This provides a survey of recent work on path planning using
different techniques include both in static and in a dynamic environment.

Zain Murtaza*, Noaman Mehmood*, Mohsin Jamil*, Yasar Ayaz*(2014).

Design and Implementation of Low Cost Remote-Operated Unmanned
Ground Vehicle (UGV). This paper proceeds with first presenting a review on
unmanned ground vehicles (UGV); discussing some design approaches for
implementation of a UGV according to the application perspectives. The main
purpose of this pa per 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 for the operator to understand the environment and behavior of
UGV.XBEE modules are used to implement the wireless communication which are
low cost, offers a reliable communication and widely used in research projects

ChristopherKwet Young Lam Loong Man a, Yogesh Koonjul a, Leckraj

Nagowah (2018). A low cost autonomous unmanned ground vehicle .The aim
of this project is to design and implement a low cost Autonomous Unmanned
Ground Vehicle (AUGV), a vehicle that can be controlled remotely without an
onboard 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

12
move towards its final destination. A Raspberry Pi 3 has been used as the brain
of the vehicle together with other components such as DC and Servo motors,
Ultrasonic and Infrared sensors, webcam, batteries, power bank, motor
controller and a smartphone.

Panayiotis Fofilos , Kyriakos-Isaak Xanthopoulos , Emmanuel-Athanasios

Romanos Konstantinos Zikidis , Nikolaos Kanellopoulos . An Unmanned
Ground Vehicle for Remote-Controlled Surveillance. It is based on a simple
tricycle chassis and it is powered by a high capacity automotive battery, which
provides adequate power for several hours of use. An electric motor moves the
vehicle quietly and efficiently, while the 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 , Mansour AlDajani , and Mostafa

ElShafei (2010). Design and Implementation of an Unmanned Ground
Vehicle for Security Applications. This paper describes the design and
implementation of a prototype teleoperated unmanned guided vehicle (UGV)
for security applications. 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. The live video is transmitted to an operator
in the command and control station who controls steering acceleration, braking,
as well as gun positioning and firing using a 0joystick, a steering wheel and
pedals. The command and control computer translates and sends the operator
commands to an on-board computer.

13
Senthilkumar. D.,, Babu Natesan., Asokan. Shankar C. Subramanian(2015).
Tele-operation of Unmanned Tracked Vehicles: Modeling and Simulation of
Planar Motion Dynamics. The design and development of unmanned tracked
vehicles have received a lot of attention in the recent past, considering their wide
application in many scenarios. In this paper, the development of a generic
mathematical model for an unmanned, off-road tracked vehicle in tele-operation
and its simulation are presented. The tele-operation system model is presented
along with the planar motion dynamics of the tracked vehicle. Vehicle motion
dynamics is subdivided into longitudinal motion and angular motion dynamics,
which are again subdivided into acceleration, braking, and yaw motion dynamics.

Douglas W. Gage(1995). A Brief History of Unmanned Ground Vehicle

(UGV) Development Efforts. The purpose of this paper is to provide a brief
survey of a number of different threads of development that have brought the
UGV field to its current state, together with references to allow the interested
reader to probe more deeply

Md. Ajijul Bin Zabbari & Nafiz Ahmed Chisty(2016).Design &

Implementation of an unmanned ground vehicle (UGV) . This project describes
the design, simulation and manufacturing procedure of an Unmanned Ground
Vehicle..(UGV) surveillance robot 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. The core components of unmanned
ground vehicles was executed to help efficiently during the primary missions. It
can rotate 360 degree and can tilt 180 degree and after that it can still

14
work normally. This robot can monitor condition of the place like temperature
and presence of natural gas. A camera is attached with this robot with which it
can observe the condition of the site through internet.

M.S.Zaghloul and Ahmed Mohsen(2015).Design and Implementation of

Remote Operated UGV Based on GSM Maha sharks. —In this paper, we
propose the controlling and monitoring for unmanned ground vehicle (UGV)
based on wireless communications, the design include sensors, GSM,
Microcontroller, Mechanical and electrical design .The core components of
unmanned ground vehicles was executed to help efficiently during the primary
missions. 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.

Hendri Maja Saputraa,and Midriem Mirdaniesa(2015).Controlling

unmanned ground vehicle via 4 channel remote control . A four-channel
Remote Control (RC) which is used to model aircraft can be modified to control
multiple DC motors and other devices on Unmanned Guided Vehicle (UGV).
Remote control used in this paper is HobbyKing brand that works at frequency
2.4 GHz. Eight bit microcontroller module is added to give command reference
value to the transmitter module of the remote control that will be sent to the
receiver module. The algorithm is implemented into the microcontroller module
using the C programming language. Test results show that the counter method
can be used for reading a PWM signal with absolute error less than 1%, so that
the UGV can be controlled well via remote control.

15
Akil Chrukuri ,Aditiya Shshank neti , Saindhi Jasthi Mrs.Ponnamal
P(2014). Unmanned Ground Vehicle For Military Purpose. Unmanned
ground vehicle (UGV) is also called as self controlled robot which play an
important role in military purposes. Unmanned ground vehicle support and
augment soldiers 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.

Karsten Berns, Atabak Nezhadfard, Massimo Tosa, Haris Balta and Geert De
Cubber(2017) . Unmanned Ground Robots for Rescue Tasks. This chapter
describes two unmanned ground vehicles that can help search and rescue teams in
their difficult, but life-saving tasks. These robotic assets have been developed
within the framework of the European project ICARUS. The large unmanned
ground vehicle is intended to be a mobile base station. The smaller unmanned
ground vehicle is also equipped with an array of 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). Unmanned Ground Vehicle Remote

Controlled Robot for Security Applications. This paper describe the android
smart phone to control the unmanned ground vehicle. The unmanned ground
vehicle mainly used in secured places. Today android system is very popular. The
controller can run the software and touch the screen on the smart phone to drive

16
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.

GaurangKalgutkar,Poonam Wagh, Hardik Chauhan, Amol

Baviskar(2017). Wireless Controlling of DC Motor using Android
Application. The motor is operated in for quadrants i.e. clockwise; counter
clock-wise, forward brake and reverse brake. It also has a future of speed
control. As per requirement as they can rotate in clockwise, counter- clockwise
and also apply brakes immediately in both the directions. In case of a specific
operation in industrial environment, the motor needs to stop immediately.

Tarun Debnath, AFM Zainul Abadin & Md. Anwar Hossain(2018).

Android controlled smart wheelchair for disabilities. For this, the prototype
and the whole system have implemented considering sufferings of the people,
who are dependent on the wheelchair 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.

Ms.C.Hemalatha ,Mr.R.Nagarajan (2018). Brushless DC Motor Controlled

by usng Internet of Things. In this paper, proposed the new architecture for
control the BLDC motor, which uses a flexible industrial based Android smart
phone 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.

17
S.Siva Sai Kumar Reddy, R. Puviarasi, S.R.Boselin Prabhu(2016).
Automatic Material Sorting and Storing Machine using Arduino. The
project detects the objects totally different mate The proposed of the prosthetic
hand is light weight. The servo motors as actuator give the hand lightweight
structure and low cost prosthetic hand. This hand can be used as prosthetic hand
for transradial prosthesis because of its size and weight which approach the
human hand. The prosthetic hand also has seven grip patterns that enable it to
do activities of daily living. It works just like a human hand simulation, but with
a lesser precision of course. rials and segregate in 3 different boxes. By usage of
sensors decreases the errors in sorting and reduces the person power. 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.

Shruthi K(2017). A Low Cost Prosthetic Hand using Flex Sensors and Servo
Motors. The proposed of the prosthetic hand is light weight. The servo motors
as actuator give the hand lightweight structure and low cost prosthetic hand. This
hand can be used as prosthetic hand for transradial prosthesis because of its size
and weight which approach the human hand. The prosthetic hand also has seven
grip patterns that enable it to do activities of daily living. It works just like a
human hand simulation, but with a lesser precision of course.

M. Z. H. Noor, S. A. S. M. Zain, L. Mazalan(2013). Design and Development

of Remote-Operated Multi- Direction Unmanned Ground Vehicle (UGV).
The main purpose of this research is to design and develop complete system of a
remote-operated multi-direction Unmanned Ground Vehicle (UGV). The

18
development involved PIC 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.

Kalaiarasi, Pavithra.s,Pratheeba ,SPriyaadharshini R(2014). IoT based

motion control system of a robotic car. The system has IR obstacle sensors
for avoiding obstacles coming in its path. We present the architecture and
design of arduino communication and how to control the car by means of
commands and application.

G.Kiruthikamani, B.Abinayaa, B.Saranya, P.Devi and R.Gayathri (2016).

Smart vehicle safety system using Aurdino. This system provides control
over the vehicle even after it is stolen. It provides security to vehicle by locking
the doors and stopping the vehicle movement. To restart the vehicle and 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.

19
 CHAPTER 3

METHODOLOGY

The methodology of design and development of UGV has been illustrated in

flow chart.

Fig 3.1 Methodology flow chart

20
 CHAPTER 4
COMPONENT DESCRIPTION

4.1 Linear actuator

Fig 4.1
A linear actuator is an actuator that creates motion in a straight line, in contrast
to the circular motion of a conventional electric motor. Linear actuators are
used in machine tools and industrial machinery, in computer peripherals such as
disk drives and printers, in valves and dampers, and in many other places where
linear motion is required.
4.2 Wiper motor

Fig 4.2
A wiper motor generally consists of a metal arm; one end pivots, the other end
has a long rubber blade attached to it. The arm is powered by a motor, often an
electric motor, although pneumatic power is also used for some vehicles. The
blade is swung back and forth over the glass, pushing water, other precipitation,
or any other impediments to visibility, from its surface.

21
4.3 Servo motor

Fig 4.3
A servo motor is an electrical device which can push or rotate an object with
great precision. If you want to rotate and object at some specific angles or
distance, then you use servo motor.

4.4 T Relay

Fig 4.4
A relay is an electromagnetic switch that is used to turn on and turn off a circuit
by a low power signal, or where several circuits must be controlled by one
signal. The main operation of a relay comes in places where only a low-power
signal can be used to control a circuit.

22
4.5 PIC Microcontroller

Fig 4.5
Peripheral Interface Controller (PIC) was originally designed by General
Instruments. In the late 1970s, GI introduced PIC 1650 and 1655 – RISC with
30 instructions. PIC was sold to Microchip Features: low-cost, self-contained,
8-bit, Harvard structure, pipelined, RISC, single accumulator, with fixed reset
and interrupt vectors

4.6 ESP8266 WIFI Module

Fig 4.6
ESP8266 is an impressive, low cost WIFI module suitable for adding WIFI
functionality to an existing microcontroller project via a UART serial connection.
The module can even be reprogrammed to act as a standalone WIFI connected
device–just add power! The feature list is impressive and includes: 802.11 b/g/n
protocol Wi-Fi Direct (P2P), soft-AP Integrated TCP/IP protocol stack.

23
4.7 SMPS

Fig 4.7
Switch mode power supplies (SMPSs) are used in a range of applications as an
efficient and effective source of power. This is in major part to their efficiency.
For anybody still working on a desktop, look for the fan output in the central
processing units (CPU). A series switching element turns the current supply to a
smoothing capacitor on and off. The voltage on the capacitor controls the time
the series element is turned

4.8 LCD display

Fig 4.8
LCD (Liquid Crystal Display) screen is an electronic display module and find
a wide range of applications. A 16x2 LCD display is very basic module and is
very commonly used in various devices and circuits. These modules are
preferred over seven segments and other multi segment LEDs.

24
4.9 IR SENSORS

Fig 4.9
The sensor has a 3-pin header which connects to the microcontroller board or
Arduino board via female to female or female to male jumper wires. A
mounting hole for easily connect one or more sensor to the front or back of
your robot chassis.

4.10 ARDUINO

Fig 4.10
Arduino is an open-source hardware and software company, project and user
community that designs and manufactures single-board microcontroller sand
microcontroller kits for building digital devices.

25
4.11 CAMERA

Fig 4.11
The ESP32-CAM has a very competitive small-size camera module that can
operate independently as a minimum system with a footprint of only 27*40
4.12 BATTERY

Fig 4.12
A twelve-volt battery has six single cells in series producing a fully charged
output voltage of 12.6 volts. A battery cell consists of two lead plates a positive
plate covered with a paste of lead dioxide and a negative made of sponge lead,
with an insulating material (separator) in between

26
 CHAPTER 5
DESIGN OF UGV
5.1 Mechanical Design

It is very important to mechanical design the UGV according to the

application to maximize its performance. There are a number of factors to
be considered before we first move to mechanical design these parameters
are defined from application perspective each design have its own
advantages and disadvantage. We are using a robust all-terrain mechanical
chassis as the platform for our UGV which has off-terrain rugged wheels
and a decent suspension system. The overall design does not look robust
with all the electrical equipment mounted on the frame, but the UGV is
capable of moving in rough terrain. Moreover housing for all the electrical
systems can be designed to make it more rugged

Fig 5.1 Front assemble

5.2 AUTOCAD

AutoCAD is a commercial computer-aided design (CAD) and drafting

software application. Developed and marketed by Autodesk,AutoCAD was
first released in December 1982 as a desktop app running on microcomputers
with internal graphics controllers.Before AutoCAD was introduced, most
commercial CAD programs ran on mainframe computers or minicomputers,
with each CAD operator (user) working at a separate graphics terminal.Since
2010, AutoCAD was released as and web app , marketed asAutoCAD 360.

27
Fig 5.2 Isometric view

28
5.3 3D VIEW

Fig 5.3 3D view 1

Fig 5.4 3D view 2

29
 CHAPTER 6
ARCHITECTURE OF UGV
Described are systems and methods, including computer program products for
controlling an unmanned vehicle. A user controls one or more unmanned
vehicles with a Smartphone. The Smartphone receives video stream from the
unmanned vehicles, and the Smartphone displays the controls from the
unmanned vehicle over the video. The Smart phone and the unmanned
vehicle communicate wirelessly

Fig 6.1 Layout of UGV

6.1 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.
6.2 INTERNET:
This acts as a medium for the flow of commands from control station to
the UGV to make it work wireless.

30
6.3 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.
6.4 CONTROL UNIT:
It is usually the micro controller that receives the signals from the user and
operate according to the signals such as UGV movement and angle,obstacle.

Fig 6.2 Controller board

6.5 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

Table 6.1 Specification of Wi-Fi module

31
6.6 LINEAR ACTUATOR:
This is used to control the direction of the Unmanned control vehicle

Table 6.2 Specification of linear actuator

6.7 SERVO MOTOR:

This is used to control the acceleration of unmanned ground vehicle

Table 6.3 Specification of servo motor

6.8 DC MOTOR:
It is mainly used for UGV movement from one place to other place.

32
6.9 WIPER MOTOR
This is used to control the braking of unmanned ground vehicle.

Table 6.4 Specification of wiper motor

6.10 WIRELESS MODEM:
wifi module provides wireless data transfer to the control station
from the on-board system.

6.11 BATTERY
Used for powering up the control unit and wifi module.

Table 6.5 Specification of battery

6.12 ARDUINO
A microcontroller board used to interface sensors ana actuator

Table 6.6 Specification of arduino

33
6.13 T- RELAY
A Switch used to conrol the linear actuator backward and forward
motion

Table 6.7 Specification of T-relay

6.14 IR SENSOR
Are used to detect and avoid obstacle during movement

Table 6.8 Specification of IR sensor

34
 CHAPTER 7
SOFTWARE IMPLEMENTATION
7.1 Android application operated through WIFI

1. The Android platform includes support for the WIFI network stack, which
allows a device to wirelessly exchange data with other devices.
2. The application framework provides access to the WIFI functionality
through the Android APIs.
3. Make a connection between this app and WIFI module ESP
8266 Through internet.
4.Then using ,this app operates vehicle as required.

Fig 7.1 Application outlook

7.2 PROTEUS 7.0 SIMULATION TOOL

Proteus 7.0 is a Virtual System Modeling (VSM) that combines circuit

simulation, animated components and microprocessor models to co-simulate the
complete microcontroller based designs. This is the perfect tool for engineers to
test their microcontroller designs before constructing a physical prototype in
real time.
35
This program allows users to interact with the design using on-screen indicators
and/or LED and LCD displays and, if attached to the PC, switches and buttons.
One of the main components of Proteus 7.0 is the Circuit Simulation -- a
product that uses a SPICE3f5 analogue simulator kernel combined with an
event-driven digital simulator that allow users to utilize any SPICE model by
any manufacturer. Proteus VSM comes with extensive debugging features,
including breakpoints, single stepping and variable display for a neat design
prior to hardware prototyping. In summary, Proteus 7.0 is the program to use
when we want to simulate the interaction between software running on a
microcontroller and any analog or digital electronic device connected to it.

7.3 CCS COMPILER

A compiler is a computer program (or set of programs) that transforms source

code written in a programming language (the source language) into another
computer language (the target language, often having a binary form known as
object code). The most common reason for wanting to transform source code is
to create an executable program.

This integrated C development environment gives developers the capability to

quickly produce very efficient code from an easily maintainable high level
language. The compiler includes built-in functions to access the PIC
microcontroller hardware such as READ_ADC to read a value from the A/D
converter. Discrete I/O is handled by describing the port characteristics in a
PROGRAM. Functions such as INPUT and OUTPUT_HIGH will properly
maintain the tri-state registers. Variables including structures may be directly
mapped to memory such as I/O ports to best represent the hardware structure in
C.

36
7.3.1 CCS C COMPILER FEATURES

1. Built in libraries that work with all chips for RS232 serial I/O, I2C, discrete
I/O and precision delays.

2. Integrates with MPLAB IDE and other simulators and editors for source level
debugging. Standard HEX file and debug files ensure compatibility with all
programmers.

3. Formatted printf allows easy formatting and display in HEX or decimal.

4. Efficient function implementation allows call trees deeper than the hardware
stack.

5. Source code drivers included for LCD modules, keypads, 24xx and 94xx serial
EEPROM's, X10, DS1302 and NJU6355 real time clocks, Dallas touch memory
devices, DS2223 and PCF8570 serial SRAM, LTC1298 and PCF8591 A/D
converters, temperature sensors, digital pots, I/O expander and much more.

6. Access to hardware features from easy to use C functions, timers, A/D,

EEPROM, SSP, PSP, USB, I2C and more.

7. 1, 8, 16 and 32 bit integer types and 32 bit floating point.

8. Assembly code may be inserted anywhere in the source and may reference C
variables.

9. Automatic linking handles multiple code pages.

10. Inline functions supported to save stack space; Linker will automatically
determine the best architecture or it can be manually specified.

11. Compiler directives determine if tri-state registers are refreshed on every I/O
or if the I/O is as fast as possible.

37
 CHAPTER 8
PROJECT IMAGES

Fig 8.1 Linear actuator setup

38
Fig 8.2 Linear actuator

Fig 8.3 Wiper motor

39
8.1 CIRCUIT CONNECTIONS

Fig 8.4 Servo motor circuit

Fig 8.5 Linear actuator circuit

40
 CHAPTER 9
FUTURE SCOPE
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.

Fig 9.1 Upcoming UGV

9.1 APPLICATIONS
 Unmanned ground vehicle for fortification in Army
 Unmanned ground vehicle with pick and place robot in industries
 UGVs for seed sowing
 Titan UGV

41
 CHAPTER 10
PROGRAMMING
Source code

#Include <80c52.h>
#device ADC=10 // 10bit adc
#include <16f883_io.h> // for 28pin ic
#use delay(clock=20000000)
#fuses HS,NOPUT,NOBROWNOUT,PROTECT,NOWDT

#include <lcd_drive_2.c>

#define ref_distance 13.0

#define ref_count 185.0
#define ULT_ECHO_X porta_1
#define ULT_TRIG_X porta_2

#define SEL_key portb_7

#define INC_key portb_6
#define DEC_key portb_5
#define SLC_key portb_4

unsigned long ultra_F_count;

unsigned long total_ultra_count;
unsigned long Set_Distance_load;
unsigned long distance_x;
unsigned long dis_count=0;
42
int8 Page_flip=0;

void ultra_trigger_routine_X()
{
/ disable_interrupts(int_timer0); ULT_TRIG_X=1; delay_us(10);

ULT_TRIG_X=0; delay_us(10); ultra_F_count=0;

distance_x = (ultra_F_count/ref_count)*ref_distance;

void Distance_condition()
{
if (distance_x >= Set_Distance_load)
{
relay= 1;
}

}
void Distance_condition2()
{
Relay1= 1;

43
}void Display_fun()
{
Distance_condition();
if(Page_flip == 0)
{
lcd_clear();
lcd_write(0x80,0);
printf(lcd_write_string,"DIS:%02lumm",distance_m);
}
else if(Page_flip == 1)
{

lcd_write(0xc0,0);
printf(lcd_write_string,"set_D2:%02lumm",Set_Distance_load); /
/delay_ms(1500);
}

Page_flip++;
if(Page_flip>2)
{
Page_flip = 0;
}
}

unsigned long inc_dec_routine(unsigned long minimum,unsigned

long max,unsigned char lcd,unsigned long li,unsigned char level)
{
while(true)
{

44
 if(INC_key==0)
{
delay_ms(200);
li+=level;
if(li>=max)li=max;
lcd_write(lcd,0);
printf(lcd_write_string,"%02lu ",li);
}

else if(DEC_key==0)
{
delay_ms(200);
if(li<=minimum)li=minimum;
else li-=level;
lcd_write(lcd,0);
printf(lcd_write_string,"%02lu ",li);
}

else if(SLC_key==0)
{
delay_ms(200);
break;
}
else
{
lcd_write(lcd,0);
printf(lcd_write_string,"%02lu ",li);
}
}

45
 return(li);
}

void Setting_fun()
{
if (SEL_key == 0) // voltage
{
delay_ms(50);

lcd_write(0x80,0);
printf(lcd_write_string,"Set_D2 :
%02lumm ",Set_Distance_load);
Set_Distance_load = inc_dec_routine(20,90,0xc0,Set_Distance_load,5);
}
}

void main()
{
trisa=0x03;
trisb=0x0f;
trisc=0x80;

portb_7=1;
portb_6=1;
portb_5=1;
portb_4=1;

portc_1=0;

46
 lcd_int();
timer_intials();
adc_intial();
lcd_display();
Set_Distance_load=30;
relay= 0;

while (TRUE)
{

ultra_trigger_routine_X();
Display_fun();
}

Setting_fun();

47
 CHAPTER 11
COST ESTIMATION

Table 11.1 Cost estimate

48
 CHAPTER 12
CONCLUSION
In this paper we were able to design and develop a remote operated multi
directional unmanned vehicle. The design approach suggested in this paper is
cost effective using a full duplex communication and suitable for applications
even like military exploration and surveillance purpose. The current project
constitutes an excellent demonstrator of design, manufacturing and control
capabilities that can be used to develop more sophisticated.UGVs for
different application in the future. All the equipment used in the development
of our UGV was chosen after critical optimization of cost and performance
considerations. We conclude from literature review that recent work on
remote-operated vehicles suggests solutions such as simplex communication
that make it cost-effective.

Fig 12.1 Completed UGV

49
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(UGV) Development Efforts, Unmanned Systems Magazine, Summer 1995,
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3. Panayiotis Fofilos , Kyriakos-Isaak Xanthopoulos , Emmanuel-Athanasios

Romanos Konstantinos Zikidis , Nikolaos Kanellopoulos . An Unmanned Ground
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4. Zain Murtaza*, Noaman Mehmood*, Mohsin Jamil*, Yasar Ayaz*(2014).

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5. Gawli, Parinay Karande INTERNET OF THINGS (IOT) BASED ROBOTIC ARM

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50