This document describes an unmanned ground vehicle (UGV) project. It includes block diagrams that show the UGV can operate in manual control mode using keyboard commands, autonomous mode using obstacle detection algorithms, and arm control mode using hand gestures. It also provides details on the functions, applications, and successful results of the UGV, such as implementing features like motion tracking, obstacle detection, and path planning.

1. Visual Modelling Group
WELCOME ALL

2. MITHILEYSH SATHIYANARAYANAN
Research Student
Visual Modelling Group, University of Brighton

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.  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.  PROJECT ABSTRACT
Command 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.

7. LIVE
VIDEO
FEED
KEYBOARD TURRET
COMMAND UGV ARDUINO
USER CENTRE ON BOARD CONTROLL RELAY
(SYSTEM) SYSTEM ER
Power SERVO
MOUSE MOTOR
Supply(Li-
H-BRIDGE
Po)
Regulator
Circuit
INTERNET
DC
MOTOR
BLOCK DIAGRAM

8. FUNCTION OF UNMANNED GROUND VEHICLE IN
COMMAND CONTROL MODE
Key Pressed Character sent Objective
UP U Forward
DOWN D Reverse
RIGHT R Right
LEFT L Left
CONTROL 0 Stop

9. IR
GPS
Sensors UGV
MOTION
Base
station DC &
ARDUINO
USER and On H-Bridge Servo
Controller
board motors
system
Power
Supply(Li-
MAGNETIC
COMPASS
Po)
Regulator
Circuit
BLOCK DIAGRAM

10. FUNCTION OF UNMANNED GROUND
VEHICLE IN AUTONOMOUS MODE
IR(L) IR(M IR(R Operations IR(L) IR(M IR(R Operations
) ) performed ) ) performed
0 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[Right
0 1 1 Left() and () or Left()]
Up() and down()

11. 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

12. FLOW CHART
ARMCON SIDE UGV SIDE
Command Centre: Up(), down(), right(),
Selects IMU mode left(), halt() for
rover movements
Pitch and roll Controls signals
variations of the IMU translated to
equivalent functions
Controls signals for
pitch and roll- Received by the X-
f,b,r,l,0 bee and stored
Serially communicated From the
to X-Bee ARMCON
Setup
To
UGV

13.  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.

14. 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

15.  Used in new explorations.
 Military purposes
 Bomb Disposal
 Search and Rescue
 Gaming
 Satellite communication
 Vehicle tracking

16.  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.

17. • 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.