1. ARM BASED AERIAL AND
ALL TERRAIN NAVIGATOR
SEMESTER 7 ELECTRONICS AND COMMUNICATION A
MAIN PROJECT
PRESENTED BY : ALWIN THOMAS, BROLWIN THANKACHAN, DILEEP KADAVARATH,
HEBIN V ALOOR, JOB J PULIKKOTTILE
GUIDED BY: MAHESH K

2. ABSTRACT
• We are presenting an ARM based robot, that has the ability
to fly, as well as tackle terrain navigation.
• The bot would be able to facilitate visual communication
between those present on site and the control station.
• Terrain navigation helps improve efficiency and range,
whenever flight capability is not necessary.
ARM Based Aerial and Terrain Navigator 2

3. INTRODUCTION
• Common situations that employ rescue robots are mining
accidents, urban disasters, hostage situations, and
explosions
• It’s a merger of unmanned aerial vehicle(UAV) & Unmanned
ground vehicle(UGV), Controlled by remote control of a
pilot on the ground
• The system is designed with abilities such as searching,
rescuing people, reconnaissance and mapping, delivery of
supplies and medication for the wounded.
ARM Based Aerial and Terrain Navigator 3

4. INTRODUCTION
• The vehicle have a set of sensors to observe the
environment
• System autonomously make decisions about its behaviour
or pass the information to a human operator at a different
location
ARM Based Aerial and Terrain Navigator 4

5. LITERATURE SURVEY
Radiation Mapping in Post-Disaster Environments Using an
Autonomous Helicopter
• This is a remote sensing system for radiation detection and
aerial imaging using a 90 kg autonomous helicopter and
sensing payloads for the radiation detection and imaging
operations.
ARM Based Aerial and Terrain Navigator 5

6. LITERATURE SURVEY
Radiation Mapping in Post-Disaster Environments Using an
Autonomous Helicopter
• The radiation payload consists of a scintillating type
detector with associated software to rapidly and effectively
map and locate sources of high radiation intensity.
• The system described here is too complex. This robot cannot
navigate the terrain, which reduces efficiency and range
severely
ARM Based Aerial and Terrain Navigator 6

7. LITERATURE SURVEY
Autonomous Vision-based Micro Air Vehicle for Indoor and
Outdoor Navigation
• This is a quad copter that performs autonomous navigation
in complex indoor and outdoor environments.
• Highlights of the implementation are the field-programmable-
gate-array-based dense stereo matching of
0.5 Mega- pixel images at a rate of 14.6 Hz using semi
global matching
ARM Based Aerial and Terrain Navigator 7

8. LITERATURE SURVEY
Autonomous Vision-based Micro Air Vehicle for Indoor and
Outdoor Navigation
• This system too cannot travel on the surface, though very
capable, is unable to carry any extra significant payload.
Automation, while bettering results, can also expand the
included costs significantly.
ARM Based Aerial and Terrain Navigator 8

9. LITERATURE SURVEY
Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining
Disasters
• This is a rolling robot designed specifically to lead search
and rescue efforts in the event of a mining disaster.
• Mining accidents generally bring about a buffet of
dangerous conditions: structural weaknesses within the
shafts themselves, poisonous vapours, explosive gases,
flooded tunnels, etc..
ARM Based Aerial and Terrain Navigator 9

10. LITERATURE SURVEY
Sandia's Gemini-Scout: A Rescue Robot Optimized for Mining
Disasters
• This robot is designed to cope with all of these, so it can go
down a mine quickly, searching for survivors and threats, so
human searchers can get into place as quickly as possible.
• This robot is oriented towards underground applications. A
dead end block with tight overhead gaps can prove our
system advantageous over this one.
ARM Based Aerial and Terrain Navigator 10

11. BLOCK DIAGRAM
ARM Based Aerial and Terrain Navigator 11

12. MECHANISM
• Each rotor produces a thrust and a torque about its centre
of rotation and these forces are used to fly and move Quad
copter.
• Two rotors mounted on opposite arms of quad copter are
set into clockwise and another two anticlockwise.
• These orientation of motors and their direction of rotation
cancels all the torque generated given the speed of the
motors are same.
ARM Based Aerial and Terrain Navigator 12

13. MECHANISM
• If we change the speed of the motors attached on the
left and right of quad keeping the speed of the other
two same, creates 'Yaw' motion.
• Similarly, 'Pitch' and 'Roll' movements are gained by
changing the speed of different motors.
ARM Based Aerial and Terrain Navigator 13

14. QUAD COPTER FLIGHT CONTROL
ARM Based Aerial and Terrain Navigator 14

15. ELECTRONIC SPEED CONTROLLER
(ESC)
• An electronic speed
control (ESC) is an
electronic circuit which
used to vary an
electric motor's speed,
its direction and it also
act as a dynamic
brake.
+
-
To Motor DC Power
Throttle
signal
(receiver)
ESC
BEC
ARM Based Aerial and Terrain Navigator 15

16. ELECTRONIC SPEED CONTROLLER
(ESC)
• providing an electronically-generated three phase electric
power low voltage source of energy for the motor.
• Brushless ESC systems basically drive tri-phase brushless
motors by sending a sequence of signals for rotation.
• It have three sets of wiring, on one side you would have two
wires, black and red which go to the battery (Red +ve /
Black –ve).
ARM Based Aerial and Terrain Navigator 16

17. ELECTRONIC SPEED CONTROLLER
(ESC)
• On the same side receiver cable, which goes into the
throttle channel of Receiver.
• The other side would have three wires, which go to
the motor.
ARM Based Aerial and Terrain Navigator 17

18. POWER SUPPLY
• Lithium polymer batteries are the preferred for power. They
offer high discharge rates and a high energy storage/weight
ratio.
• Li-Po has a low internal resistance.
• This low IR means Li-Po doesn't waste energy getting hot
like Ni-MH does and this translates to longer run times.
ARM Based Aerial and Terrain Navigator 18

19. POWER SUPPLY
• Lower IR also means Li-Po holds higher voltage under load
than Ni-MH does. This means motor gets
higher voltage longer and runs faster.
• Li-Po also weights physically less than Ni-MH.
ARM Based Aerial and Terrain Navigator 19

20. BRUSHLESS DC ELECTRIC MOTOR
• A typical brushless motor has permanent magnets which
rotate around a fixed armature, eliminating problems
associated with connecting current to the moving armature.
• An electronic controller replaces the brush/commutator
assembly of the brushed DC motor, which continually
switches the phase to the windings to keep the motor
turning.
ARM Based Aerial and Terrain Navigator 20

21. BRUSHLESS DC ELECTRIC MOTOR
• Brushless motors offer several advantages over brushed DC
motors,
• More torque per weight;
• More torque per watt thus, increased efficiency;
• reduced noise and improved reliability;
• longer lifetime (no brush and commutator erosion);
• elimination of ionizing sparks from the commutator, and
overall reduction of electromagnetic interference (EMI).
ARM Based Aerial and Terrain Navigator 21

22. BRUSHLESS DC ELECTRIC MOTOR
• With no windings on the rotor, they are not subjected to
centrifugal forces
• The windings are supported by the housing, they can be
cooled by conduction, requiring no airflow inside the motor
for cooling.
ARM Based Aerial and Terrain Navigator 22

23. REST OF THE BLOCKS
• Remote Control Centre - It consists of PC, RC Transmitter
• ARM Processor - Handles audio and video signals.
• Sensors - Ultrasonic Distance Measurement System
• Camera - Use to capture images and video recording
ARM Based Aerial and Terrain Navigator 23

24. APPLICATION
• They are usually used for military and special operation
applications
• Also preferred for missions that are too ‘dull, dirty or
dangerous’.
• Providing first aid for people in situations like mining
accidents, urban disasters, hostage situations and
explosions, reconnaissance and mapping.
ARM Based Aerial and Terrain Navigator 24

25. APPLICATION
• Minor industrial lifting - getting a wrench to the workers on
the top of a tower, passing optic fibre wires from one roof to
the other
• Aerial photography service
• Surveillance of pipelines
• Delivery of supplies
• Recreational performances and air shows - lights, fireworks,
aerobatics
ARM Based Aerial and Terrain Navigator 25

26. THANK YOU