Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015
Wireless Multifunctional Robot for
Military Applications
Tarunpreet Kaur
Department of Electronics and Communication Engineering
SLIET, LONGOWAL
Sangrur, India
tarunpreetkaur2468@gmail.com
Abstract—This paper presents a modern approach for
surveillance at remote and border areas using multifunctional
robot based on current 3G technology used in defence and
military applications. This robotic vehicle has ability to substitute
the solider at border areas to provide surveillance. The robotic
vehicle works both as autonomous and manually controlled
vehicle using internet as communication medium. This
multisensory robot used to detect human, bombs, harmful gases
and fire at remote and war field areas. Conventionally, wireless
security robot obsoletes due to limited frequency range and
limited manual control. These limitations are surmounted by
using 3G technology which has limitless range. This system also
enhances the use of renewable resource of energy by equipping
with solar panel. An autonomous operation is controlled by
ultrasonic sensor and infrared sensors. Manual operation is
controlled by DTMF decoder and cell phones used as video
camera by initializing 3G video call and change the path of robot
according to real time information of surrounding. This paper
also illustrates the experimental results of tilt angle selection of
solar panel and power consumption in automatic and manual
mode. This robotic vehicle is designed for reconnaissance as well
as surveillance under certain circumstances.
Keywords — Wireless Sensor Networks (WSN); DTMF; Sensors;
PIR; GSM; GPS; Internet of Things
I. INTRODUCTION
The robot is basically electro-mechanical machine or
device that is controlled either by computer program or with
electronic circuit to perform variety of physical tasks. With the
gradual development in technology scientists come up with
new ideas and inventions of robots. In the today’s life robot
are becoming indispensible part of human life [1]. The robotic
technology also provides automation in hospital, office and
factory. Besides automation this technology also used in
Defense forces, Entertainment, Space exploration, Security
systems and many dangerous mission execution[3].
As the terror is always remains India’s first enemy so, the
robots are going to use for saving human life. Countries like
India are still facing and confronting with regular threats from
terrors. Both Kashmir and Mumbai terror attacks have
consummated that as far as possible the future of warfare will
be handle by robot and unmanned machines to to protect
human life [3].
Currently, the Indian Army has Daksh Military robot to
combat in battle field. As the technology proliferate rapidly in
978-1-4673-8253-3/15/$31.00 ©2015 IEEE
Dilip Kumar
Department of Electronics and Communication Engineering
SLIET, LONGOWAL
Sangrur, India
dilip.k78@gmail.com
automation field by incorporating Military Robots as Soldiers
in war field to reduce grievance and demise in war fields [2].
DTMF is known as Dual Tone Multi Frequency which is
generated by cell phone when any key is pressed. When any
key is pressed then it made connection between the tones of
Row and Column which generate dual tone frequency. This
dual tone is used to determine which key is pressed [4].
In defense areas, Robot are usually miniature in size so
they are enough capable to enter in tunnels, mines and small
holes in building and also have capability to survive in harsh
and difficult climatic conditions for life long time without
causing any harm [2]. Military robots were designed from last
few decades. But still there are some problems in earlier
developed military robots.
A. Comparison with Existing Robotic Vehicles
• Currently existing robots have limited range of
coverage as they are based on RF Technology, Zigbee
and Wi-Fi.
• Most of the earlier robot used charged batteries as
source of power. Thus it becomes inconvenient to use
this robot for long period.
• Earlier surveillance robots sense only one or two
physical quantities.
• Existing robots use expensive video camera for live
video streaming for manual control.
B. Need For Development
• Use of 3G Technology will provide wide range of
operation and manual control.
• Cost effective by using cell phone as video camera
• Energy efficient by using renewable resource for
power supply.
• Used to explore hazardous areas and used for
espionage purposes.
II. PROPOSED CIRCUIT DESIGN OF ROBOTIC VEHICLE
This multifunctional robot has disseminated into
modules which have their own functionality. Due to
advancement in technology, these surveillance robots are
advent to use in remote and defense areas.
 ECS UIET Panjab University Chandigarh 21-22nd Deccember 2015
Proceedings of 2015 RAE

conditions and fire at reestricted areas.

Fig. 1. Block Diagram of Robotic Vehicle
A. Power Supply Module
This robot uses Solar panel of 10 wattw as renewable
resource of power supply. As the solar paanel is not able to
provide continuous power to robot, a rechaargeable battery is
used to provide consistent power to vehicle
v which is
connected to solar panel through charge controller.
c Charge
Controller is required to prevent over chargging of battery in
order to increase life span [5].The reducttion in battery is
indicated by low battery indicator in ordero to provide
consistent output to user.
C. Obstacle Detection Module
M
The autonomous robot is able to find the path by using
obstacle detection module. Thhe ultrasonic sensor integrated
with infrared sensor used to deetect obstacles, as the ability of
ultrasonic sensor to detect nearrby objects is scarce as compare
to infrared sensor. Ultrasonic sensor
s detects object by sensing
the Echo signal which are recceived back after striking with
object and also determine disttance of obstacle by evaluating
the time between transmission and reception of object [7].
D. PIC18F452 Controller
The whole robot functionallity is controlled by this module.
As the temperature sensor and Gas sensor provides the analog
output, so due to inbuilt 10 bit ADC PIC microcontroller does
not require additional ADC for digital data output. It controls
the vehicle in both automatic annd manual mode effectively.

Fig. 2. Solar Panel Charge Controller

B. Sensor Module
The Sensor module comprises of variouus sensors used to
detect intruder, harmful gases, fire and bom
mbs at rescue and
remote areas [6].
• PIR Sensor is used to detect movem
ment of human in
ZOR (Zone of Region) by sensinng heat radiation
emitted by human.
• Metal Detector based on thee principal of
electromagnetic induction to detect metallic
m objects in
its surrounding.
• Gas Sensor detects various harmfull gases like LPG, Fig. 3. Circuit Diagram of Robotic veehicle
Propane and iso- butane when the gases
g exceed their
E. Communication Module
voltage level.
This module enables both data and video transmission by
• Temperature Sensor LM35 integraated with Flame 3G video calling. GSM module is used to send alert messages
sensor R2 686 used to detect haazardous weather to user when sense any hazaardous condition or when any

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 Proceedings of 2015 RAECS UIET Panjab University Chandigarh 21-22nd December 2015

sensor becomes active. DTMF Decoder MT8870 IC is used to • In manual mode to change the path of robot, user
control the robot in manual mode. The decoder converts the initiates 3G video call to cell phone equipped on
dual tone frequencies into their binary equivalent and the robot.
controller perform operation corresponding to these binary
• The 3G video call provides the live view of
equivalents [8]. surrounding in order to change the path an
In order to change the path of robot during manual mode, direction of robot.
the user initiates the 3G video call to the mobile phone
equipped to robot. The smart phone is equipped on the robot V. PATH PLANNING ALGORITHM
to monitor the surrounding and kept on auto receive mode to This section describes path planning algorithm to search
provide live view of surrounding of robot in order to change collision free path. The main issue to design an autonomous
its path [1]. robot is navigation, in which path planning is an essential
F. Driving Module aspect of autonomous robot. So, path planning techniques are
The speed of robotic vehicle depends upon the Size and used to minimize the distance, chance of collision and fuel
RPM (Rotation per Minute) of DC motor. In order to drive the consumption [10].
motors a driving module L293D is used to provide supply to
motors. A single L293D contains Two H Bridge to rotate the
motor in both clockwise and anticlockwise direction.
III. SOFTWARE DESIGN
We implement the security robot by programmed it in
mikroC PRO which is a complete featured ANSI C compiler
for PIC components. . It provides various features such as
instinctive IDE, prevailing compiler with complex
optimizations, plenty of hardware and software libraries, and
extra tools that provide help to the user [3].

TABLE I. FORMAT OF OUTPUT FILES

Format Description File

Type
IntelHEX Intel style hex records. Use this file .hex
to program PIC MCU.
Binary Mikro compiled Library. Binary .mcl
distribution of application that can
be included in other projects
List file Overview of PIC memory allotment ,lst
instruction addresses, registers,
routines and labels.
Assembler Human readable assembly with .asm
File symbolic names, extracted from the
List File.

IV. CONTROL ALGORITHM

The following steps to taken to control the movement and
functionality of robot shown in Fig. 4.
• The military robot initiates in automatic mode by
default.
• Key’1’ uses to switch from automatic to manual
mode.
• During autonomous operation if ultrasonic sensor
and infrared sensor detects any obstacle, it rotates
left or right according to algorithm.
• The alert messages send to user via GSM Module
after the activation of any sensor.
Fig. 4. Flowchart of Entire Design
GPS (Global Positioning System) is satellite based
navigation system which provides global coordinates of
current location of autonomous robot. The user gets current
coordinates of robot using GPS and provides the coordinates
of final location where robot has to reach with minimum
distance coverage and collision with nearby objects [9].
The steps involved in navigation algorithm for path
planning of robot are:-
1. Initialize the robot and boot up GPS equipped in

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 ECS UIET Panjab University Chandigarh 21-22nd Deccember 2015
Proceedings of 2015 RAE

robot, which provides the coordiinates of current

location of autonomous robot.
2. Provides the coordinates of waypoinnts toward the final
location.
3. The angle of rotation of robot is deciided by

dAngle = gLOC – cLOC (1)

where,
dAngle is difference of angle betw ween current and
final location.
gLOC, is coordinates of waypoiint or destination
location
cLOC, is coordinates of current locaation [10]
4. Robot moves toward the waypoint by b determining the
Fig. 6. Robot Equiped with solar Paneel
angle between the distance andd with minimum
collision with obstacles. B. Power Consumption of Robbotic Vehicle
5. After reaching the waypoint, movves towards next The power consumption of o Robotic Vehicle in manual
waypoint by making this waypoint location
l as current mode is slightly more than auttomatic mode, as the cell phone
location and continue this process unntil reach the final is used as Video Camera while calling to DTMF decoder.
location.
VI. RESULTS
600
This section indicates the experimental results
r carried out
during designing of prototype of robotic vehhicle and examine Automatic Mo
ode
the functionality of each module. 500
Manual Modee
Power in mW

A. Angle selection for Solar Panel 400

The tilt angle of solar panel is entirely depending on the
latitude of selected area. This robotic vehiccle is designed for 300
operated in Punjab where latitude is 300.
200
TABLE II. TILT ANGLE SELECTION FOR SOLAR
S PANEL

100
Table Column Head
Resultant
Season Tilt Angle Calculation 0
Angle
0
Winter (30*0.9) + 29 56

Summer (30*0.9) – 23.5 3.50

Spring and Fall (30 – 2.5) 27.50

Fig. 7. Power Consumption by Robottic Vehicle

C. Speed of Robotic Vehicle

5 The speed of robot depends upon
u Wheel Diameter and RPM
Average Sun hour per

(Rotation per Minute) of selectted DC Motor.

4
Distance travelled per rotation
3
= Wheel Diameter X 3.14
3 (2)
day

2 = 8 X 3.14 = 25.12cm
m
Speed of Robot per Sec =
1
(Distance travelled per rotationn * RPM of motor) /60 sec (3)
0 = 25.12 * 100)/60 = 41.86cm/sec
Tilt 0 Tilt 3.5 Tilt 15 Tilt 30 Tilt 45
4 Tilt 56 Tilt 60 Speed of Robot in m/sec = 0.411m/sec
Fig. 5. Average Sun Hours per day for Solar Panel Tiltt Angle

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 ECS UIET Panjab University Chandigarh 21-22nd Deccember 2015
Proceedings of 2015 RAE
Variation in speed with Solaar Panel
50
40
Speed in cm/sec
30
20
10
0 414-417. IEEE, 2014.
Without Solar With 10 Watt With 18 Watt
W With 20 Watt
Panel Solar Panel Solar Pannel Solar Panel
Fig. 8. Variation in speed of robotic vehicle
VII. FUTURE SCOPE
Irrespective of certain advantages of thhis system require
certain amendments which requires wide coverage range,
monitor and control through internet and morre user friendly.
A. Wireless Sensor Network
WSN is collection of nodes deployed either
e statically or
dynamically into cooperative network and provides wireless
connectivity between these autonomous nodesn with IEEE
802.11.4. Using WSN would enhance the coverage
c range of
surveillance areas by deploying mobile noddes equipped with
sensors. The primary objectives to designn the WSN is to
maximize the network lifetime of nodes, minniature sized nodes
and minimize energy consumption by choosingc specific
routing schemes and algorithms to get enhhanced throughput
[11].
B. Internet of Things(IOT)
As the technology proliferates rapidly, IO
OT would add new
dimension to world of Information, technology and
communication. Currently, the use of Internnet exaggerates in
our daily life and it would lead to developmeent of technique in
which machines, RFID tags, Sensors and Thhings communicate
with each other through Internet of Things (IIOT) [12]. As IOT
is emerging technology has certain challengge which includes
providing unique address to each thing, so it has ubiquitous
access over the internet.
VIII. CONCLUSION
The type of communication technique ennhance its range of
operation, where the user can control the movement
m of robot
from any part of world by getting live video of surrounding as
feedback, compared to earlier robots work on local networks
like wifi with constraints have limited operaational range. Use
of renewable source of energy, DTMF and smart cell phone as
video camera makes it cost effectives com mpared to existing
robot. This robotic vehicle with different sub modules can
widely be used as surveillance robot for seccurity purpose and
emergency rescue operations where humann cannot footpace
and user will be able to alert prior to intruderr in his premises.
978-1-4673-8253-3/15/$31.00 ©2015 IEEE
Acknow
wledgment
We are thankful to the ACS
SD Department, CDAC Mohali,
for all support it has provided us. We are grateful to
Ms. Vemu Sulochana for her valuable inputs in development
of paper.
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