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How to control a robot?

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How to control a robot?

  1. 1. Visual Modelling GroupWELCOME ALL
  2. 2. MITHILEYSH SATHIYANARAYANAN Research StudentVisual Modelling Group, University of Brighton
  3. 3.  Introduction Image of Unmanned Ground Vehicle Block Diagram of Unmanned Ground Vehicle Flow chart of the working of UGV Description about working of UGV Applications and Results
  4. 4.  What is an Unmanned Ground Vehicle?• It is an exploration vehicle.• Unmanned Ground Vehicle is a Robot or called as Rover. It is called as UGV.• It is used in the field of Military applications, Space applications, Navy, Crew, Gaming etc.
  5. 5.  PROJECT ABSTRACTCommand Control mode:• The UGV is controlled by commands given from the base station (Computer/Laptop). [Manual mode]Autonomous mode:• Capable of travelling from point A to point B without human navigation commands.• Adjust strategies based on surroundings using obstacle detection algorithms.Arm Controlled mode : The UGV is controlled by using commands based on hand movements.
  6. 6. LIVE VIDEO FEED KEYBOARD TURRET COMMAND UGV ARDUINOUSER CENTRE ON BOARD CONTROLL RELAY (SYSTEM) SYSTEM ER Power SERVO MOUSE MOTOR Supply(Li- H-BRIDGE Po) Regulator Circuit INTERNET DC MOTOR BLOCK DIAGRAM
  7. 7. FUNCTION OF UNMANNED GROUND VEHICLE INCOMMAND CONTROL MODE Key Pressed Character sent Objective UP U Forward DOWN D Reverse RIGHT R Right LEFT L Left CONTROL 0 Stop
  8. 8. IR GPS Sensors UGV MOTION Base station DC & ARDUINOUSER and On H-Bridge Servo Controller board motors system Power Supply(Li- MAGNETIC COMPASS Po) Regulator Circuit BLOCK DIAGRAM
  9. 9. FUNCTION OF UNMANNED GROUND VEHICLE IN AUTONOMOUS MODEIR(L) IR(M IR(R Operations IR(L) IR(M IR(R Operations ) ) performed ) ) performed0 0 0 (No 1 0 0 Right() and obstacles) Up()0 0 1 Left() and 1 0 1 Up() Up()0 1 0 Random[Righ 1 1 0 Right() and t() or Left()] Up() and Up() 1 1 1 Random[Right0 1 1 Left() and () or Left()] Up() and down()
  10. 10. UGV MOTION Power ARDUINO Supply(Li- H-Bridge NI-CD X-BEE (DC & CONTROLL Po)BATTERY PRO S2 SERVO ER Regulator MOTORS) Circuit UGV ON IMU X-BEE BOARD Arduino PRO S2 SYSTEM BLOCK DIAGRAM
  11. 11. FLOW CHART ARMCON SIDE UGV SIDE Command Centre: Up(), down(), right(), Selects IMU mode left(), halt() for rover movements Pitch and roll Controls signalsvariations of the IMU translated to equivalent functionsControls signals for pitch and roll- Received by the X- f,b,r,l,0 bee and storedSerially communicated From the to X-Bee ARMCON Setup To UGV
  12. 12.  The command is given from the base station that is human will control with his wrist. Human himself is the base station. Control Signals from hand are Pitch and Roll which is up, down and right, left movements. Rover senses the directions given by human using the Arduino hardware and software. Now the Control signals translated to equivalent functions.
  13. 13. FUNCTION OF PITCH AND ROLL Range Character Objective sent Pitch > 30 F Forward Pitch < -30 B Reverse Roll > 30 R Right Roll < -30 L Left -30<= pitch 0 Stop >=30 -30<= roll >=30
  14. 14.  Used in new explorations. Military purposes Bomb Disposal Search and Rescue Gaming Satellite communication Vehicle tracking
  15. 15.  RESULTS 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.
  16. 16. • Additional sensors such as Passive infrared sensors, thermal imaging, Gas sensor, can be added to enhance the capabilities of the UGV.• Secure satellite links for communication increases the security of UGV operation.

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