T-100 Watch Dog (Autonomous Security Vehicle)

1.0Executive Summary 4

2.0Project Description 4

2.1 Motivation 5

2.2 Objective and Goals 5

2.3 Project Requirements and Specification 6

2.3.1 Sensors and Microcontrollers 7

2.3.2 Mobile Application/Web Server/Wireless Communication 8

2.3.3 Cameras/Image Processing 8

3.0 Project Research 9

3.1 Existing/Similar Projects 9

3.2 Autonomous Vehicles 14

3.3 Control Methods 15

3.3.1 Mobile Application 15

3.3.2 Web Application 17

3.4 Power 17

3.4.1 Discharge Rate 18

3.4.2 Memory Effect 18

3.4.3 Nominal Voltage 18

3.4.4 Capacity 18

3.4.5 Battery Types 19

3.5 Voltage Regulator 21

3.5.1 Linear Regulator 22

3.5.2 Switching Regulators 22

3.5.3 Zener Diode 23

3.6 Microcontroller 24

3.6.2 Operating Systems 28

3.7 Sensor 30

3.8 Wireless Device 34

3.9 Cameras 36

3.9.1 Thermal Cameras 36

3.9.2 Webcam 39

3.9.3 Video Streaming 42

3.10 Routing Algorithm 42

3.11 Video Image Processing 49

3.12 Web Server 50

3.13 Wheel Type/ Movement 55

3.13.1 Mecanum Wheels 56

3.13.2 Continuous Tracks (Tank Style) 58

3.13.4 Traditional RC Wheels 61

4.0 Hardware and Software Design 62

4.1 Chassis 62

4.2 Wheels 65

4.2.1 High-Level Mobile Control 68

4.3 Motor 76

4.3.1 Motor Controller 78

4.4 Sensor 85

4.5 Power 85

4.6 Computer Vision Controller 90

4.6.1 Video Image Processing 90

4.6.2 Cameras 92

4.6.3 Video Streaming 93

4.7 Mobile Application 94

4.9 Web Server 98

5.0 Design Summary 99

5.1 Hardware 99

5.2 Software 102

6.0 Project Prototype Construction 103

6.1 Parts Acquisition/Financial Budget 103

6.2 PCB Vendor and Assembly 104

6.3 Prototype Construction and Configuration 105

6.3.1 Software Build Plan 105

6.3.2 Hardware Build Plan 106

6.4 Milestones 106

7.0 Project Prototype Test Plan 108

7.1 Test Environment 108

7.2 Unit Testing 109

7.2.1 Web Server 109

7.2.2 Cameras 111

7.2.3 Mobile Application 112

7.2.4 Microcontroller 117

7.2.4 Power Testing 118

7.2.5 Motor Controller 120

7.2.6 Sensors 124

7.3 Integration Testing 124

9.0 Conclusion 127

Appendix A: Sources/Permission 129