Intelligent Control and trajectory planning Of UGV

Project Title

Intelligent Control and trajectory planning Of UGV

Project Area of Specialization Artificial IntelligenceProject Summary

Autonomous Mobile Robot is an automated vehicle that does not required operation from operator to navigate the robot. All the movement are pre determined before the operation and the mobile robot will navigate accordingly. Autonomous mobile robot can be divided into three different type of are which is ground, air and submarine. The implementation of autonomous mobile robot such as in military, agricultural purposes, surveillance and other application can lower the risk of injury and time consuming.

A possible task of Autonomous Mobile Robot is ready to navigate from point to point that preprogrammed routed to Autonomous Mobile Robot while avoiding the obstacle. This function is useful in applications such as an autonomous log-skidder, security surveillance robot, fire suppression system, and a terrain-mapping vehicle. The vehicle can accomplish this task by using sensors to “see” where it is and what is around it. These sensors vary from close range infrared sensors to longer ranged high frequency radar and global positioning satellites. [1]

Applications on military for bomb defusing give major impact to reduce the fatal injury. In other area the military can use the autonomous mobile robot to rescue injured army from the battle field. Other application for military purposes is autonomous mobile robot for de-mining [3]. All of these applications will save life and suitable for unexpected war now adays.

Project Objectives

There are many associated goals in this project. But our main objectives can be summed up as follows:

• Way Point Navigation
• Obstacle Avoidance System
• Speed Control
• Position Control
• Stability

Project Implementation Method

1. Methodology of Research       

The Methodology of Research are devided into four part

1. Theoretical Studies.
2. Method of analysis.
3. Result Expected.

1. Theoretical Studies

For this project one should have clear concepts of electrical machines i.e

• Motors

One should be well familiar with the power electronics i.e

• Charge controllers
• Inverters

one should have atleast some knowledge on

• construction materials
• designing
• gears
•  

One should be well familiar with the Microcontroller i.e

• Microcontroller for Sensor Fusion
• AMRSBot Microcontroller
•  

One should be well familiar with the Instumentation i.e

• Sonar Sensor

One should have atleast some knowledge about Digital Image Processing. One should have atleast some knowledge about Signal and System. One should have atleast some knowledge about Control System

  2.Method of Analysis

In order to identify the essential physical restriction of the GPS for Autonomous Mobile Robot while avoiding the obstacle.The first stage is to calculate the thrust and the efficiency of the vehicle. The second stage is to represent the release mechanism as close as possible using MATLAB software. Once these two stages are completed, the team will be accurate in their calculations and we could predict with high precision how the AMRSBot. is going to perform the mission.

  3.Result Expected

A possible task of Autonomous Mobile Robot is ready to navigate from point to point that preprogrammed routed to Autonomous Mobile Robot while avoiding the obstacle. This function is useful in applications such as an autonomous log-skidder, security surveillance robot, fire suppression system, and a terrain-mapping vehicle. The vehicle can accomplish this task by using sensors to “see” where it is and what is around it. These sensors vary from close range infrared sensors to longer ranged high frequency radar and global positioning satellites. application for militar purposes is autonomous mobile robot for de-mining. All of these will save life and suitable for unexpected war now adays

Benefits of the Project

This UGV can be used easily from any location, which makes it a very useful device in application like the military, agricultural purposes, surveillance.This we have proposed in an idea of life saving in areas which are inaccessible by humans. Even a person sitting in a wheelchair can also contribute to help people who are stuck in the building. There is no need of physical fitness of the controller. So hence we hope that this idea would be useful to the society in terms of life saving.

Technical Details of Final Deliverable

A possible task of Autonomous Mobile Robot is ready to navigate from point to point that preprogrammed routed to Autonomous Mobile Robot while avoiding the obstacle. This function is useful in applications such as an autonomous log-skidder, security surveillance robot, fire suppression system, and a terrain-mapping vehicle. The vehicle can accomplish this task by using sensors to “see” where it is and what is around it. These sensors vary from close range infrared sensors to longer ranged high frequency radar and global positioning satellites. application for militar purposes is autonomous mobile robot for de-mining. All of these will save life and suitable for unexpected war now a days.

Final Deliverable of the Project Hardware SystemType of Industry IT Technologies Artificial Intelligence(AI)Sustainable Development Goals Quality EducationRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	54175
GPS module	Equipment	1	7535	7535
Motor Driver (47A)	Equipment	1	3500	3500
Sonar Sensor	Equipment	4	850	3400
ESP8266 (WIFI)	Equipment	1	3150	3150
WIFI For Arduino	Equipment	1	2250	2250
Gear Motor High Torque	Equipment	4	1850	7400
Gear Motor High Torque	Equipment	2	1120	2240
Battery letium ion (50K Amh)	Equipment	2	8230	16460
Voltage Devider	Equipment	2	1120	2240
Body	Miscellaneous	1	5000	5000
Other Component	Miscellaneous	10	100	1000