Construction of an obstacle map and its real time implementation on an unmanned ground vehicle
Construction of an Obstacle Map and Its Real-Time
Implementation on an Unmanned Ground Vehicle
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 microcontrollers. 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.
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.
The paper presents the real time embedded implementation of this mapping system on a
small Unmanned Ground Vehicle (UGV) to support real time obstacle avoidance. The UGV is
controlled by using a RF remote, according to the command from the RF remote the UGV can
navigate in the ground. The UGV has ultrasonic sensor, Zigbee transceiver, RF receiver and a
GPS receiver interfaced to it. The ultrasonic sensor is used for obstacle avoidance, whenever the
ultrasonic sensor finds an obstacle the UGV stops moving. GPS receiver continuously receives
the latitude and longitude values from the satellite and these values were sent to PC through
Zigbee communication. In PC there will be an application to generate map according to the GPS
values. By viewing the map in PC we can move the UGV to desired destination using RF remote
8051 Microcontroller with power supply
RF transmitter and Receiver
Keil C Compiler
Navigate to the desired destination using Map.
Avoids obstacles in its waypoints.