N.Seetharaman, R.Sivaramakrishnan
Unmanned Ground Vehicle on a tracked platform is a remote vehicle that is controlled by a human operator from a base vehicle through RF wireless communication links. Unmanned Ground Vehicles (UGV) play vital roles to save the precious armed personnel life and promises to increase the effectiveness of the armed forces while reducing the exposure of personnel to dangerous battlefield environments. They intend to be deployed for carrying out mission like detection of buried landmines. They have an inherent potential to work as an effective force multiplier in future warfare scenarios. The mine detection sensor Ground Penetrating Radar GPR is attached at the front end of the vehicle with the help of the 5 DOF robotic manipulator arms in order detect the mines ahead of the UGV passing on it. The GPR will continuously scan the area in front of the UGV. During the mission mobile platform encounters disturbances due to surface unevenness and undulations, which results disturbances in orientation of the vehicle and the GPR. Main purpose of this work is to ensure the desired orientation of GPR irrespective of surface undulations. This has to be achieved by closed loop control of the respective manipulator joints with accelerometer as feedback sensor. For controlling process, FUZZY control logic is used for minimizing the pitch and roll error. This algorithm design is implemented using Matlab/Simulink.
Accelerometer, Fuzzy logic, BLDC, GPR, unmanned ground vehicle, robotic arm