DESIGN AND CONSTRUCTION OF AN UNMANNED GROUND VEHICLE (UGV) SURVEILLANCE

ABSTRACT: This Unmanned Ground Vehicle (UGV) project is designed to undertake missions like border patrol, surveillance etc. as well as coordinate with human controller. It is a prototype illustrating the ever expanding need for sophisticated technology and precision driven vehicles needed presently as a first line of defence. A person from a remote place can comfortably control the motion of the robot wireless while receiving relevant environmental data. The manual modes of the rover are controlled by a human operator and live video is fed back to the base station. One of the most prominent problems facing the world today are Terrorism and Insurgency. Governments and engineers are working day and night in order to bring these problems under control. Billions of dollars are continuously spent by countries for the research of new defense systems capable of safeguarding citizens from threats. Currently with major advancements in the field of vehicle automation, several dangerous and crucial counter terrorist operations are being handled by sophisticated machines which are more efficient and also responsible for saving several human lives. There is an on-board computer, which receives command from command centre control and issues commands to the on-board micro controller for controlling the main motors, servo motors, wireless data reception, and sensors. The command centre control computer allows the remote user to see the direct video stream and control the various features of the rover.

TABLE OF CONTENTS
Certification…………………………………………………………………………………….… i
Dedication………………………………………………………………………………….…… ii
Acknowledgement…………………………………………………………………………… iii
Abstract………………………………………………………………………………………….vi
Table of contents………………………………………………………………………………vi
List of figures ……….………………………………..………………………….….……….. x
List of tables……..…..………………………………..………………………….….………..ix

CHAPTER ONE
1.0 Introduction…………………………………………………………………………….1
1.1 Background of study………………………………………………………….………..1
1.2 Motivation………………………………………………………..……………………3
1.3 Statement of problem…………………………………………………….……………3
1.4 Aim and Objectives……………………………………………………………………3
1.4.1 Aim………….…………………………………………………………………3
1.4.2 Specific objectives………………………………………………………………3
1.5 Methodology……………………………………………………..……………………4
1.6 Project outline…………………………………………………………………………4

CHAPTER TWO
2.0 Introduction…………………………….……….………………..……………………6
2.1 ExistingUnmanned Ground Vehicle (UGV) technology…….…………………….……………………6
2.1.1 iRobot’s Packbot…………………………………………………….…………7
2.1.2 Software Distributed Robotic All Terrain Robot (SDR’s ATR) ………………7
2.1.3 Mar Rover Sojourner…………………………………………..………………8
2.1.4 Enhanced Mobility Robot (EMR) ………………………….…………………8
2.2 Unmanned Ground Vehicle (UGV) (Muhammad Hafiz bin Mohamad-2009/2010) …………9
2.3 Summary……………………………………………………………..………………10

CHAPTER THREE
3.0 Introduction……………………………………………………………………..……11
3.1 Block Diagram………………………………………………………..………………11
3.3 Hardware components…………………………………………..……………………12
3.3.1 Arduino microcontroller………………………………………………………12
3.3.2 Servo Motors…………………………………………………………………12
3.4 Propulsion Systems……………………………………………………………………12
3.4.1 Main motor specifications……………………………………………………13
3.4.2 Battery capacity………………………………………………………………14
3.5 Motion………………………………………………………………..………………15
3.6 Control Systems………………………………………………………………………16
3.7 Vision Systems………………………………………………….……………………17
3.8 Mechanical design……………………………………………………………………17
3.8.1 Chassis construction……………………………………….…………………17
3.8.2 Fabricated chassis………………………………………….…………………18
3.9 Robot arm………………………………………………………….…………………18
3.10 calculations……………………………………………………………………………19
3.10.1 Clearing the Vertical Obstacles………………………………………………19
3.10.2 Crossing Horizontal Gaps……………………………….……………………19
3.10.3 Calculation of the Driving Motor……………….……..….…………………20
3.10.4 Drive wheel motor torque calculations………………….……………………22
3.10.4.1 Determination of Rolling Resistance…………………………22
3.10.4.2 Determination of Grade Resistance………..…………………23
3.10.4.3 Determination of Acceleration Force…………………………24
3.10.4.4 Determine Total Tractive Effort………………………………24
3.10.4.5 Determine Wheel Motor Torque………………………………24
3.10.4.6 Determine the rotation per minute (RPM) of the wheels…..…25
3.10.4.7 Check…………………………………………………………25
3.11 Summary…………………………………………………………..…………………26

CHAPTER FOUR
4.0 Introduction……………………………………………………..……………………27
4.1. Maximum Speed Test…………………………………………………………………27
4.1.1. Normal Ground & Uneven Ground……………………………………………27
4.1.2. Soft Ground………………………………………………….…………………28
4.2. Maximum Slope Test…………………………………………………………………28
4.2.3. Actual Outdoor Slopes…………………………………………………………29
4.3. Towing Strength of the UGV…………………..……………………………….……29
4.4. Ultrasonic distance measurement…………………………………………………….29
4.5. Cost Analysis and Comparison………………………………………………………32
4.6 Applications…………………………………………………….……………………32
4.7 Summary…………………………………………………………..…………………32

CHAPTER 5
5.0 Introduction…………………………………………………………………………..33
5.1 Limitations………………………………………………………….………………..33
5.2 Result……………………………………………………………….………………..33
5.3 Recommendations…………………………………………………..………………..34

5.4 Conclusions……………………………………………………………………………34

REFERENCES……………………………………………………………………………..…36

Appendix A: Technical Specifications for temperature and humidity sensor………………..38
Appendix B: Power and Command Circuit…………………………………………………..39
Appendix C: Steering system…………………………………………………………………40
Appendix D: Drawings……………………………………………………………………….40

• CHAPTER ONE
  • Introduction

As security of Nigeria national infrastructure becomes increasingly important, it is necessary to employ cost-effective methods to ensure that physical assets remain safe. Furthermore, because terrorist operations resulting in disastrous events have become a reality, it is also essential to enhance emergency response competences to minimize loss of human life. The viewpoint of maintaining security of the nation’s infrastructure is a vast task. However, improvements in security must be made with limited human resources.
Recently, there has been a trend toward utilizing robotic assets in security operations and disaster mitigation (McAuliffe, 2003). Mobile robotic platforms can be equipped with an array of sensors to provide a variety of security and surveillance capabilities e.g. Mounted cameras can provide surveillance and identification of trespassers or passers-by.
Furthermore, robots do not suffer from fatigue, boredom, or other biological constraints that can limit the effectiveness of long-term deployment for unexciting tasks. Similarly, robotic systems function without being affected by human attributes such as subjectivity, fear, anger, etc.
This project therefore envisages the design of an Unmanned Ground Vehicle (UGV) equipped with sensors and data processing capabilities that have the ability to provide security and surveillance for a wide variety of applications such as Large infrastructure components (bridges, pipelines, dams, cave etc.), electrical power grids which pose severe challenges for monitoring, surveillance, and protection against man-made and natural hazards

• Background of study

The robotic field is a collection of several engineering field including mechanical, electronics, digital logic, artificial intelligence, bioengineering and so much more. Robots can do a wide variety of job, depending on the physical construction and programming. Robots can be designed as general purpose autonomous robots or a dedicated for a specific job. The general purpose built types can functions independently in known areas or spaces, handle their need for recharging, interface with electronic doors and lifts or elevators, link up with networks, software and accessories that can increase their usefulness. On the other hand, dedicated robot are designed for specific work for example an automated fruit harvesting machine, mining robot etc. (Muhammad,
2010).
Many robots are for specific use. Since two different jobs requires the design of two dedicated robots which will become complex in the coordination of the two jobs and hence more cost of design and construction. But if a multipurpose robot is designed to perform multiple works simultaneously there will be significant savings in cost and time. Hence this project will focus on the design and construction of a multipurpose robot. It is of extreme importance to coordinate the multiple task of a single multipurpose robot since the robot combines different sensing and working modules that will work simultaneously and synchronously. This coordination is a challenging job and the smooth operation of an integrated robotic system depends mostly on this part (Purdy, 2007).

• Motivation

Over the past decade, Africa has experienced exponential growth in the geographic spread of violent extremist (VE) organisations and the frequency of attacks attributed to these groups. Boko Haram and al Shabaab are two of the continent’s most active VE groups. Nigeria have been particularly affected by these organisations. In both cases, security-led operations against these groups have been stalled by poor surveillance which ultimately led to the death of innocent civilians and soldiers. While military campaigns and counter-terrorism operations against these groups have periodically produced short-term gains, Boko Haram and al Shabaab are far from defeated as both have proven their ability to adapt and regroup. So this awaken the need for proper surveillance of activities going on all around us without subjecting a person to danger.

•  Statement of problem

The state of security in Nigeria is at a critical level, therefore there is the need to design surveillance systems that can monitor the environment without subjecting people to danger.

• Aim and Objectives
  • Aim

The aim of this project is to design a tele-operated Unmanned Ground Vehicle (UGV) that is controlled wirelessly via a remote system and can move on various terrain.

• •  Specific objectives

1. sensing of several environmental parameters,
2. Wireless communication over long distance to give alarms, live video streaming.
3.  Military exercises, cave investigation, rescue purpose as well as for survey.
4. Development of a robot chassis capable of navigating all terrain

• Methodology

The design and construction of the Unmanned Ground Vehicle (UGV) is divided into three phase
– Platform design
– Mechatronics configuration
– Testing and assessment
The design of the platform involves the precise and accurate design of a structure that improves the mobility of the vehicle as well as support all the necessary equipment and payload. A number of factors will be considered to determine the viability of the vehicle to perform the job of being a Unmanned Ground Vehicle (UGV) .
The second phase will be focused on the control function for both the mechanical and electronic system. It involves the integration of the two system to work in a synchronising manner. the mechanical aspect include the tyre selection, driving
mechanism such as forward, backward and side movement, power calculations,
vehicle speed limit calculations etc. This phase also involves converting the vehicle into a computer controllable UGV. The test done here will be focused at determining the necessary sensors and actuators that will automate the vehicle.
The final phase will be to subject the Unmanned Ground Vehicle (UGV) to real life conditions. The vehicle will be tested on different terrain in Bells University of Technology to see how well it will stand up to environmental factors.

• Project outline

The course project consists of five major chapters,
Chapter one presents the introduction, problems is stated and the aims and objectives
are also given.
Chapter two is review of relevant literature works done.
Chapter three presents the detailed derivation of the mathematical model that portrays
the operation of the unmanned vehicle under normal environmental conditions and the
proposed method used to solve this model. Also it includes the hardware design and
circuit design of the Unmanned Ground Vehicle (UGV) that is created with the
objective of moving in harsh terrain and over obstacle.
Chapter four presents the analysis and discussion to the experimental results.
Chapter five provides the conclusions and recommendations