Efficient Road Detection and Tracking for

Unmanned Aerial Vehicle

Introduction:
Real-time obstacle avoidance and navigation are key fields of research in the area of
unmanned ground vehicles. The primary requirements of UGV are to detect or sense changes and
react to them with human intervention in a safe and efficient manner. The objective of this
research is to develop and implement a UGV control system utilizing embedded microcontrollers. This control system must enable the UGV to navigate to the specified waypoints
while avoiding obstacles discovered in its path. This research expands the work of UGV by
developing and implementing an environment mapping system capable of detecting and
localizing potential obstacles from real time sensor data. The real time obstacle mapping system
developed in this work automatically generates the Map in PC using an application.
Existing System

Proposed System

Wireless Cameras were used to navigate

We propose a GPS based Unmanned

the robot through the specified waypoints. But, Ground

navigation

system

using

this method is possible only for short distance.

wireless technology.

Drawbacks of existing system:

Advantages of proposed system:

Zigbee

possible to change the direction of the

Robot move efficiently with the perfect

path
Difficult execution

direction
Trouble-free execution

Less accuracy & compact design.

More accuracy

Working principle:

The paper presents the real time embedded implementation of this mapping system on a
small Unmanned Ground Vehicle (UGV) to support real time obstacle avoidance. The UGV is
controlled by using a RF remote, according to the command from the RF remote the UGV can
navigate in the ground. The UGV has ultrasonic sensor, Zigbee transceiver, RF receiver and a
GPS receiver interfaced to it. The ultrasonic sensor is used for obstacle avoidance, whenever the
ultrasonic sensor finds an obstacle the UGV stops moving. GPS receiver continuously receives
the latitude and longitude values from the satellite and these values were sent to PC through
Zigbee communication. In PC there will be an application to generate map according to the GPS
values. Vehicle location is displayed in the Google map with help of .Net. By viewing the map in
PC we can move the UGV to desired destination using RF remote control.

Block Diagram:
Monitoring Section:

Power
Powersupply
supply

Max232
Max232

PC
PC

Control Section:

Power
Powersupply
supply

RF
RFTransmitter
Transmitter

Encoder
Encoder

Robot Section:
Power
Powersupply
supply

Decoder
Decoder
LCD
LCD
RF
RFReceiver
Receiver

Ultrasonic
Ultrasonic
Sensor
Sensor

AT89C51
AT89C51
Microcontroller
Microcontroller

MAX232
MAX232

Motor
Motor
Driver
Driver
Motor
Motor
Driver
Driver

GPS
GPSReceiver
Receiver

22Axis
AxisRobot
Robot
Mechanisms
Mechanisms

Hardware Requirements:
8051 Microcontroller with power supply
Ultrasonic Sensor
GPS receiver
RF transmitter and Receiver
Zigbee Transceiver
LCD
Max232
Keypad
Motor Driver
2 Axis Robot Mechanism

Software Requirements:
Embedded C
Keil C Compiler
PC with .Net

Application:
Navigate to the desired destination using Map.
Avoids obstacles in its waypoints.
Vehicle tracking.