Unmanned Ground Vehicle

ABSTRACT

I developed a UGV which has a drive control computer, wheel controllers, speed controllers, a Global Positioning System (GPS), a wireless LAN card, and a webcam. The UGV, which is at the University of California, Irvine in the U.S., can be controlled by a driver at my school in South Korea using a joystick. The UGV includes a webcam that sends a video to the control system at my school and a driver in South Korea can safely control a UGV without command delay. A demonstration of this was broadcasted on the Korea Broadcasting System (KBS).

UGV VIDEO DEMO

SYSTEM ENVIRONMENT

UGV Server
Laptop Pentium4 2.6Ghz, 1GB
Joystick Logitech MOMO Racing Force Feedback Wheel
Wireless LAN ZIO WLB2154PCI
Operating System Linux(Kernel 2.6.18, Fedora 6)
UGV Client
Mainboard VIA Mini-ITX (700Mhz), 512MB
Wireless LAN ZIO WLB2154PCI
Operating System Linux(Kernel 2.6.18, Fedora 4)
Wireless AP
Model Name WAP55AG, LINKSYS

SYSTEM ARCHITECTURE

UGV System Architecture
Hardware Architecture 1/2
Hardware Architecture 2/2
UGV Software Architecture
Demo Scenario (Between Konkuk University and U.C. Irvine)
How to drive a UGV
Konkuk UGV