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Perception          Salient Features of the ATV Tele-operation System

                                           Two PTZ dome cameras, one at the front and one at the rear of the UGV
                                           Resolution : 800 x 600 @ 25 fps

                                           Pan : ± 360°, Tilt : ± 90°, Zoom : x 30 (digital)

Obstacle detection             Two sets of long range and short range ultrasonic sensors
                               Long range : 15 m, FOV 15°; Short range : 6 m, FOV 90°
                               Min distance to obstacle for automatic braking : 3 m

Communication links            Digital wireless links
                               Frequency : ISM (2.4 GHz); Range : 5 km LOS

                               No of links : 02; Throughput : 5 Mbps

Localisation                   GPS; CEP : 5 m
                               Update rate : 10 Hz

Power supply                   Two 12 V, 75 Ah batteries

                               Mission duration : 04 h

Vehicle health parameters      Fuel level, oil temperature, water temperature, battery voltage

                               Components of the tele-operation system of ATV

Base Station Sub-system                       parameters and all related information.     validated by tele-operating it on various
                                              The key board includes switches for the     types of terrains. This initial work had
    The base station is used to tele-operate  starting/stopping of the UGV, emergency     enabled CVRDE to understand the
all terrain UGV. It mainly consists of the    stop button, headlights/horn, etc. The      technologies involved, system response
operator console unit which includes          two rugged single axis joysticks are used   characteristics and its effects on tele-
a display unit and set of keys/switches/      to control the direction/speed and the      operation and integration issues related to
joysticks to generate the tele-operation      steering of the UGV respectively.           the development of tracked UGVs.
commands for the UGV.
                                                  The power supply consists of two            This project provided a strong
    In addition to the display of the video   lead acid batteries and a charger. All      technological foundation and gave
received from the UGV, the display unit       the components of the base station are      confidence to take up further development
also presents the obstacle map, status of     integrated inside a wheeled cabinet having  of more complicated UGVs on heavier
communication links, the vehicle health       an internal 19” rack arrangement.           platforms.

                                                  The all terrain UGV was successfully

6 March-April 2018 							                                            Unmanned Ground Vehicles: Present and Future
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