Construction of an Obstacle Map and Its Real-Time Implementation on an Unmanned Ground Vehicle

 

Project Members:Shashank Srivastava-1161010069Srinivas Rao K-1161010081Raushan Kumar-1161010097

Project Guide:Mrs Kavitha Narayanan

INTRODUCTION• Real-time obstacle avoidance and navigation are

key fields of research in the area of unmanned ground vehicles. The primary requirements of UGV are to detect or sense changes and react to them with human intervention in a safe and efficient manner. The objective of this research is to develop and implement a UGV control system utilizing embedded micro-controllers. This control system must enable the UGV to navigate to the specified waypoints while avoiding obstacles discovered in its path

• . This research expands the work of UGV by developing and implementing an environment mapping system capable of detecting and localizing potential obstacles from real time sensor data. The real time obstacle mapping system developed in this work automatically generates the Map in PC using an application.

EXISTING SYSTEM • Wireless Cameras were used to navigate the robot

through the specified waypoints. But, this method is possible only for short distance. Here, we propose a GPS based navigation system using an application.

SCOPE OF THE PROJECT:

• The project aims at constructing an Unmanned Ground vehicle which consists of a ultrasonic sensor and a GPS receiver with the help of both the robot navigates itself.

BLOCK DIAGRAM: Monitoring Section:

PC

Power supply

Control Section:

Power supply

RF TransmitterEncoder

Receiver Section:

Robot Section:

AT89C51Microcontroller

Decoder

DC Motor

Power supply

DC Motor

RF ReceiverMAX232 GPS Receiver

Motor Driver

Ultrasonic Sensor

LCD

CIRCUIT IMPLEMENTATION

MODULES NAME:

• 1. Power supply Unit• 2. Microcontroller Unit• 3. Communication Unit• 4. Sensor Unit• 5. Device Driver Unit• 6. Display Unit

POWER SUPPLY UNIT

• The supply of 5V DC is given to the system which is converted from 230V AC supply. Firstly, the step down transformer will be used here for converting the 230V AC into 12V AC. The microcontroller will support only the DC supply, so the AC supply will be converted into DC using the bridge rectifier.

• The output of the rectifier will have ripples so we are using the 2200uf capacitor for filtering those ripples. The output from the filter is given to the 7805 voltage regulator which will convert the 12V DC into 5V DC.

• The output from the regulator will be filtered using the 1000uf capacitor, so the pure 5V DC is getting as the output from the power supply unit. Here we are using the 8051 microcontroller which will be capable of getting the supply of 5V DC so we have to convert the 230V AC supply into 5V DC supply.

MICROCONTROLLER UNIT:• AT89C51 Microcontroller• The microcontroller used in our project is the

AT89C51 microcontroller which is used to control the motors in our robot. Depending upon the RF communication the commands received from the user PC we are going to the decide in which the robot has to move. The whole programming will be written in the microcontroller itself depending upon our requirement. This microcontroller is the cheap and best controller for controlling these types of operations.

8051 schematic

Sensor Unit:• Ultrasonic Sensor • The main use of the ultrasonic sensor in our

project is to detect the obstacles in the path where the unmanned ground vechicle is moving. Whenever any obstacle is occurred, then the ultrasonic sensor will generate a pulse which will be given to the microcontroller. After processing this pulse the controller will control the robot.

 Communication Unit:Communication unit will send or receive the datas from the

microcontroller. Zigbee:• In this project zigbee is connected with the tx and rx pin of the

microcontroller. zigbee is used to send the information from the transmitter section to the monitoring section.

• In monitoring section zigbee is used to receive the command from the transmitter section.

MAX232:• MAX232 is used to interface the GPS with the microcontrollers to

convert the voltage levels. It will convert the voltage level into TTL logic which is compatible to the microcontroller.

• RF Transmitter• The transmitter is a device which is used to transfer the data

from the control section to the robot. The transmitter section uses an encoder in which the data is encoded and then transmitted.

• RF Receiver• The receiver is a device which is used to receive the data

from the control section for the robot.

•  GPS• Global positioning system is the device which is used to

detect the location of the area in terms of the longitude and latitude. Whenever we ON the GPS, then it will directly altitudes in terms of the serial communication. Then the microcontroller will receive this and will process it.

Device Driver Unit

Relay DrivingIt nothing but a simple relay driver circuit it is used to connect and disconnect the load and solar panel.

ULN2003

The induction motors will be controlled by using the driving circuit in which the ULN2003 driver IC will be used to provide the proper current rating to the motor. The sinking current of the ULN driver is around 500ma.

Display Unit:

LCD• A liquid crystal display (LCD) is a flat panel display,

electronic visual display, or video display that uses the light modulating properties of liquid crystals (LCs).

• LCDs do not emit light directly.PC:• PC is connected with the zigbee on the monitoring section. As

the zigbee receives the latitude and longitudinal values, these values are been mapped on the pc using the hyper terminal window.

Software Unit:

Software is used to compile the coding of the desired application for the corresponding embedded system.

KEIL uvision3:• This is the embedded C compiler which is compatible

for the 8051 microcontroller to compile the code.• Keil Software makes C compilers, macro assemblers,

real-time kernels, debuggers, simulators, integrated environments, and evaluation boards for the 8051, 251, ARM, and XC16x/C16x/ST10 microcontroller families.

FUTURE ENHANCEMENT:

• Here we are demonstrating the project by using a prototype with limited actions and performance. If we want to implement in the real world we can do it by using the advanced technology and by better designing, we can achieve it.

Conclusion:

• Due to the advancement in technology, by using the latest sensors we can avoid the obstacles and can go beyond that and can perform the operations what we can do.

THANK YOU