Abstract

The main objective of this project is to design and implement a low-cost multifunctional Tracked Mobile Ground Robot TMGR that can be controlled remotely. To attain this objective’s we assembly the different parts and program the robot to perform its intended task. For the mechanical system of RECON-SR, the chassis is made up of Aluminum due to its strength, lightweight, corrosive resistance and the fact that it is easy to machine and weld making it the best choice for RECON-SR.

The wheels has two parts the outer structure which is made up of a thermoplastic elastomer (TPE) a tough and flexible rubber material that provides excellent traction and grip, the inner structure is made up of acetal a rigid plastic material that is durable, lightweight and resistance to wear and tear and that provides strength and support to the rubber layer. The combination of this two protects the internal components from shocks and vibrations. The tracks are made of rubber which provides excellent traction.

All the other moving parts were made up of Acetal and lastly a gearbox to handle motor speed. For the electrical components, I used a 12V DC geared motor with current 8800mAh to power the rover. L298n dual motor driver with maximum voltage 35V and current 2A, Arduino Mega was used as the o  board computer.

A 360ͦ   continuous servo motor with operating voltage 4.8 – 6V, torque 9.4kg/cm, mass 50g and rotational speed 0.13sec/60, also an ESP32 board for wireless communication. For the visual and surveillance system we have an ESP32 CAM a 2mega pixel with 1600×1200 pixel resolution to capture videos, LIDAR sensor with operating voltage 5v, range 0.1 – 12m and frame rate 10 – 1000Hz  for 3D scanning and mapping, a MEMS microphone to detect sound.

The software’s used were Arduino for programming, Solid Works for designing the wheels and other parts, ArcGIS for analyzing LIDAR sensor data, Blynk IoT for developing the mobile application, Fritzing for design the circuit and testing.  TMGR are a valuable tool for enhancing the efficiency and safety of search and rescue operations.

CHAPTER ONE

INTRODUCTION

Service robotics is presently one of the fastest-growing technological fields. While Automated Guided Vehicles (AGV) moving on flat and compact grounds are already commercially available and widely used to move components and products inside industrial buildings, the extensive application of Tracked Mobile Ground Robots in environments that are unstructured or structured for humans is a promising challenge for the next years.

Cameroon is a country with diverse topography and challenging terrain with a diverse economy, with agriculture, forestry, mining and oil and gas production being major contributors to the economy. However, the country’s development has been hampered by its challenging terrain, TMGRs will have a significant impact on the country’s development.

Tracked Mobile Ground Robots (TMGRs) are designed for a variety of applications where wheeled or legged robots may struggle to navigate, such as on rough, uneven or slippery terrains. Their design allows them to move over obstacles and difficult terrain with greater ease and stability.

TMGRs are designed for autonomous operation, using algorithms and software to enable navigation and other tasks which can be remotely controlled by a human operator, using a variety of input devices, such as joysticks or keywords. TMGRs are versatile and robust machines that offer a range of capabilities for a variety of applications. This is because of the robot’s low center of gravity and a wider base of support, also its larger contact area with the ground giving it better traction.

This piece of work proposes the design of a TMGR for search, rescue and surveillance, capable of detecting injured persons and providing data on their condition, location, capturing sound of cry for help from injured personnel’s and navigating the roughest terrains with ease. This robot was designed to be modular allowing for easy customization and expansion and develop using open-source software.

This work focuses on the design of TMGR for search, surveillance and rescue operations, with each robot equipped with sensors capable of accessing remote areas and locating victims in hazardous conditions, traversing rough terrains and providing a real time visual. The nature of our topography and roads are the main factors for the selection of the tracked mechanism for the design of this robot.

Problem Statement

Natural disasters, wars, emergencies have become a major concern for people around the world, and can never be avoided or eliminated from our lives. The environments in which this emergencies occur are often hazardous and unpredictable making it difficult for rescue personnel to operate safely and effectively.

Search, rescue, and surveillance operations often require the use of ground-based robots to navigate challenging terrain and locate injured personnel’s in difficult-to-reach areas. However, current ground-based robots are often limited in their mobility, sensing capabilities, and autonomy, which can limit their effectiveness in these operations.

Specifically, the problem is that current tracked ground mobile robots for search, rescue, and surveillance operations are often limited in the following ways:

–           Mobility: Current robots are often limited in their ability to navigate challenging terrain, such as steep inclines, rocky surfaces, and uneven ground. This can make it difficult for the robot to reach people who have survived accidents in remote or hard-to-reach locations.

–           Sensing Capabilities: Current robots are often limited in their sensing capabilities, such as their ability to detect and locate targets in low-light or obscured environments. This can limit their effectiveness in search and rescue operations, where targets may be hidden or difficult to locate.

1. Autonomy: Current robots often require human intervention to operate effectively, such as to navigate obstacles or make decisions based on the environment. This can limit their effectiveness in operations where human intervention may not be possible or desirable.
2. Communication: Current robots are often limited in their communication capabilities, which can limit their ability to transmit data and receive instructions in remote or isolated areas.

 

With all the limitations listed above lives are been lost in natural hazards, wars, fire accidents, chemical explosive and forests. TMGRs are a potential solution to improving the safety and efficiency of search and rescue operations.

Objectives of the Study

The main objective is to design and implement a low-cost multifunctional TMGR that can be controlled remotely.

Specific Objectives

1. To choose the sensors needed to carry out surveys in areas that are unsafe for rescue teams to reach.
2. To select the materials that can withstand the shocks and vibrations in these terrains.

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