Abstract
İnsansız kara araçları günümüzde büyük öneme sahiptir. Bu araçlar, askeri, afet/arama kurtarma, gözetim/güvenlik veya tarımsal alanlarda olmak üzere kullanılabilir. Bu kara araçları otonom, yarı otonom veya insan kontrollü çalışabilir. Üç fonksiyonda da bu kara araçlarının bir yer istasyonu ile haberleşmesi gerekmektedir. Bu yer istasyonunda bir arayüz bulunur ve bu arayüzde aracın birçok anlık durum bilgileri ve kamera görüntüsü gösterilir. Böylece operatör, kara aracın yanında bulunmadan araç üzerindeki verileri okuyabilir. Herhangi bir arıza durumunda araca zamanında müdahale edebilir. Bu çalışmada insansız kara araçları için özgün çapraz platform destekli bir telemetri sistemi tasarlanmıştır. Bu telemetri sisteminde veri gönderim kartı ve yer istasyonu arayüzü bulunmaktadır. Mikrodenetleyici kartının üstüne takılabilen veri aktarım kartında RF verici, konnektörler ve çeşitli sensörler bulunmaktadır. Yer istasyonundaki RF alıcı, verileri aldıktan sonra tasarlanan çapraz platform destekli arayüz üzerinde gösterilmektedir. Arayüz üzerinde pil durumu, katedilen mesafe, aracın aktif durumu, depo doluluğu gibi bilgiler yer almaktadır. Ayrıca kara aracı üzerindeki kamera vericisi ile kamera verisi alınmaktadır ve arayüz üzerinde canlı olarak kamera görüntüsü de gösterilmektedir. Arayüzün iletişim fonksiyonları test edilmiştir ve başarıyla çalışmaktadır. Bu arayüzün çeşitli platformda performans ve fonksiyon testleri yapılmıştır. Testlerden alınan performans verileri incelenmiştir. Ayrıca mevcut olan diğer arayüzlerle karşılaştırılması yapılmıştır. Çalışmanın sonucunda taşınabilir, düşük maliyetli, özgün bir donanım ve çapraz platform desteğine sahip basit, hafif ve kullanışlı bir arayüz elde edilmiştir.
Supporting Institution
ONDOKUZ MAYIS ÜNİVERSİTESİ
Project Number
PYO.MUH.1908.22.084
Thanks
Bu çalışma, Ondokuz Mayıs Üniversitesi tarafından PYO.MUH.1908.22.084 proje numarası ile desteklenmiştir
References
- Durmus, H., Gunes, E. O., Kirci, M., & Ustundag, B. B. ,2015. The design of general purpose autonomous agricultural mobile-robot: AGROBOT. Fourth International Conference on Agro-Geoinformatics. http://www.doi.org/10.1109/Agro-Geoinformatics.2015.7248088
- Enshasy, H., Al-Badi, I., Al-Saleh, M., Bu-Shalf, A., Al-Dosseri, A., & Abu Al-Haija, Q. ,2019. A Comprehensive Design of Unmanned Ground Search and Rescue Robot. Journal of Computer Science and Technology, 14, 52-80.
- Ferreira, A. E., Ortiz, F. M., Costa, L. H. M. K., Foubert, B., Amadou, I., & Mitton, N.,2020. A study of the LoRa signal propagation in forest, urban, and suburban environments. Annals of Telecommunications, 75(7-8),333-351. http://www.doi.org/10.1007/s12243-020-00789-w
- Gonzalez, S., Vargas, T. R., Arce, P., & Guerri, J. C. ,2016. Energy optimization for video monitoring system in agricultural areas using single board computer nodes and wireless ad hoc networks. 2016 XXI Symposium on Signal Processing, Images and Artificial Vision (STSIVA). http://www.doi.org/10.1109/STSIVA.2016.7743350
- Gündoğdu, K., & Çalhan, A. ,2013. İnsansız Askeri Kara Aracı Tasarımı. Düzce Üniversitesi İleri Teknoloji Bilimleri Dergisi, 2 (1),36-45.
- Hassan, S., Alam, M., Siddiqui, N. A., Siddiqui, A. A., & Qadri, M. T. ,2017. Designing and control of autonomous Unmanned Ground Vehicle. International Conference on Innovations in Electrical Engineering and Computational Technologies (ICIEECT). http://www.doi.org/10.1109/ICIEECT.2017.7916547
- Kıvanç, Ö. C., Mungan, T. E., Atila, B., & Tosun, G. ,2019. İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler. Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi, 34 (4), 1957-1974. https://www.doi.org/10.17341/gazimmfd.571644
- Nagchaudhuri, A., Mitra, M., Hartman, C., Ford, T., & Pandya, J. ,2018. Mobile Robotic Platforms to Support Smart Farming Efforts at UMES. 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA). http://www.doi.org/10.1109/MESA.2018.8449182
- Pei, W., Lan, Y. B., Luo, X. W., Zhou, Z. Y., Wang, Z., & Wang, Y. ,2014. Integrated sensor system for monitoring rice growth conditions based on unmanned ground vehicle system. International Journal of Agricultural and Biological Engineering, 7, 75-81. http://www.doi.org/10.3965/j.ijabe.20140702.009
- Rahman, M. Z. U., Raza, U., Akbar, M. A., Riaz, M. T., Gumaei, A. H., & Ahmad, N. ,2023. Radio-Controlled Intelligent UGV as a Spy Robot with Laser Targeting for Military Purposes. Axioms, 12(2), 176. https://www.doi.org/10.3390/axioms12020176
- Shah, S. H. H., Hussain, A., Shah, R., & Abro, S. ,2019. Mini Rover-Object Detecting Ground Vehicle (UGV). University of Sindh Journal of Information and Communication Technology, 3(2), 104-108.
- Snipes, W., Stapleton, J., Yuan, M., Walters, B., Pierce, D., & Lewin, G. C. ,2018. Design of a 3D printed unmanned ground vehicle. Systems and Information Engineering Design Symposium (SIEDS). http://www.doi.org/10.1109/SIEDS.2018.8374731
- Turčinović, F., Vuković, J., Božo, S., & Šišul, G. ,2020. Analysis of LoRa Parameters in Real-World Communication. 2020 International Symposium ELMAR. http://www.doi.org/10.1109/ELMAR49956.2020.9219028
- Vaeljaots, E., Lehiste, H., Kiik, M., & Leemet, T. ,2018. Soil sampling automation case-study using unmanned ground vehicle. 17th International Scientific Conference Engineering for Rural Development. http://www.doi.org/10.22616/ERDev2018.17.N503
- Vishnu, S., Anil Kumar, M., Manjesha, M. G., Pasha, Z., & Madhu, S. ,2022. A Low-Cost Prototyping Approach for Autonomous Unmanned Ground Vehicle for Real-Time Surveillance. IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET). http://www.doi.org/10.1016/j.fcij.2018.10.001
- https://www.bosch-sensortec.com/media/ boschsensortec/downloads/product_flyer/bst-bmi160-fl000.pdf (03.07.2023)
- https://www.micros.com.pl/mediaserver/info-rf%20e22-900t22s.pdf (03.07.2023)
- https://github.com/ArduPilot/MissionPlanner (03.07.2023)
- https://hyperion-world.com/download_files/manuals/ HP-FP58TS5823-Manual.pdf (03.07.2023)
- https://www.digi.com/resources/documentation/ digidocs/pdfs/90001500.pdf (03.07.2023)
Abstract
Unmanned ground vehicles are of great importance today. These vehicles can be used in military, disaster/search and rescue, surveillance/security or agricultural fields. These ground vehicles can operate autonomously, semi-autonomously or human-controlled. These ground vehicles must communicate with a ground station in all three functions. This ground station has an interface that displays instant status information and video footage. Thus, the operator can read the data on the vehicle without being near the ground vehicle. In case of any malfunction, an operator can intervene in time. In this study, a unique cross-platform telemetry system for unmanned ground vehicles is designed. This telemetry system includes a transmission board and a ground station interface. The transmission board, which can be mounted on the microcontroller board, contains an RF transmitter, connectors and various sensors. After the RF receiver at the ground station receives the data, it displays it on the designed cross-platform supported interface. The interface displays information such as battery status, distance traveled, active status of the vehicle, and tank fullness. In addition, camera data is received with the camera transmitter on the ground vehicle and the live camera image is displayed on the interface. The communication functions of the interface have been tested and work successfully. Performance and function tests of this interface have been performed on various platforms. The performance data from the trials are analyzed. It is also compared with other existing interfaces. The result of the study is a portable, low-cost, simple, lightweight and useful interface with unique hardware and cross-platform support.
Project Number
PYO.MUH.1908.22.084
References
- Durmus, H., Gunes, E. O., Kirci, M., & Ustundag, B. B. ,2015. The design of general purpose autonomous agricultural mobile-robot: AGROBOT. Fourth International Conference on Agro-Geoinformatics. http://www.doi.org/10.1109/Agro-Geoinformatics.2015.7248088
- Enshasy, H., Al-Badi, I., Al-Saleh, M., Bu-Shalf, A., Al-Dosseri, A., & Abu Al-Haija, Q. ,2019. A Comprehensive Design of Unmanned Ground Search and Rescue Robot. Journal of Computer Science and Technology, 14, 52-80.
- Ferreira, A. E., Ortiz, F. M., Costa, L. H. M. K., Foubert, B., Amadou, I., & Mitton, N.,2020. A study of the LoRa signal propagation in forest, urban, and suburban environments. Annals of Telecommunications, 75(7-8),333-351. http://www.doi.org/10.1007/s12243-020-00789-w
- Gonzalez, S., Vargas, T. R., Arce, P., & Guerri, J. C. ,2016. Energy optimization for video monitoring system in agricultural areas using single board computer nodes and wireless ad hoc networks. 2016 XXI Symposium on Signal Processing, Images and Artificial Vision (STSIVA). http://www.doi.org/10.1109/STSIVA.2016.7743350
- Gündoğdu, K., & Çalhan, A. ,2013. İnsansız Askeri Kara Aracı Tasarımı. Düzce Üniversitesi İleri Teknoloji Bilimleri Dergisi, 2 (1),36-45.
- Hassan, S., Alam, M., Siddiqui, N. A., Siddiqui, A. A., & Qadri, M. T. ,2017. Designing and control of autonomous Unmanned Ground Vehicle. International Conference on Innovations in Electrical Engineering and Computational Technologies (ICIEECT). http://www.doi.org/10.1109/ICIEECT.2017.7916547
- Kıvanç, Ö. C., Mungan, T. E., Atila, B., & Tosun, G. ,2019. İnsansız kara aracı geliştirmeye bütünleşik bir yaklaşım: tasarım, analiz, uygulama ve öneriler. Gazi Üniversitesi Mühendislik-Mimarlık Fakültesi Dergisi, 34 (4), 1957-1974. https://www.doi.org/10.17341/gazimmfd.571644
- Nagchaudhuri, A., Mitra, M., Hartman, C., Ford, T., & Pandya, J. ,2018. Mobile Robotic Platforms to Support Smart Farming Efforts at UMES. 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA). http://www.doi.org/10.1109/MESA.2018.8449182
- Pei, W., Lan, Y. B., Luo, X. W., Zhou, Z. Y., Wang, Z., & Wang, Y. ,2014. Integrated sensor system for monitoring rice growth conditions based on unmanned ground vehicle system. International Journal of Agricultural and Biological Engineering, 7, 75-81. http://www.doi.org/10.3965/j.ijabe.20140702.009
- Rahman, M. Z. U., Raza, U., Akbar, M. A., Riaz, M. T., Gumaei, A. H., & Ahmad, N. ,2023. Radio-Controlled Intelligent UGV as a Spy Robot with Laser Targeting for Military Purposes. Axioms, 12(2), 176. https://www.doi.org/10.3390/axioms12020176
- Shah, S. H. H., Hussain, A., Shah, R., & Abro, S. ,2019. Mini Rover-Object Detecting Ground Vehicle (UGV). University of Sindh Journal of Information and Communication Technology, 3(2), 104-108.
- Snipes, W., Stapleton, J., Yuan, M., Walters, B., Pierce, D., & Lewin, G. C. ,2018. Design of a 3D printed unmanned ground vehicle. Systems and Information Engineering Design Symposium (SIEDS). http://www.doi.org/10.1109/SIEDS.2018.8374731
- Turčinović, F., Vuković, J., Božo, S., & Šišul, G. ,2020. Analysis of LoRa Parameters in Real-World Communication. 2020 International Symposium ELMAR. http://www.doi.org/10.1109/ELMAR49956.2020.9219028
- Vaeljaots, E., Lehiste, H., Kiik, M., & Leemet, T. ,2018. Soil sampling automation case-study using unmanned ground vehicle. 17th International Scientific Conference Engineering for Rural Development. http://www.doi.org/10.22616/ERDev2018.17.N503
- Vishnu, S., Anil Kumar, M., Manjesha, M. G., Pasha, Z., & Madhu, S. ,2022. A Low-Cost Prototyping Approach for Autonomous Unmanned Ground Vehicle for Real-Time Surveillance. IEEE International Conference on Artificial Intelligence in Engineering and Technology (IICAIET). http://www.doi.org/10.1016/j.fcij.2018.10.001
- https://www.bosch-sensortec.com/media/ boschsensortec/downloads/product_flyer/bst-bmi160-fl000.pdf (03.07.2023)
- https://www.micros.com.pl/mediaserver/info-rf%20e22-900t22s.pdf (03.07.2023)
- https://github.com/ArduPilot/MissionPlanner (03.07.2023)
- https://hyperion-world.com/download_files/manuals/ HP-FP58TS5823-Manual.pdf (03.07.2023)
- https://www.digi.com/resources/documentation/ digidocs/pdfs/90001500.pdf (03.07.2023)
Details
| Primary Language | Turkish |
|---|---|
| Subjects | Control Engineering, Mechatronics and Robotics (Other) |
| Journal Section | Articles |
| Authors | |
| Project Number | PYO.MUH.1908.22.084 |
| Publication Date | February 27, 2024 |
| Submission Date | July 13, 2023 |
| Published in Issue | Year 2024 Volume: 24 Issue: 1 |
