Tele-Operated `4W Vehicle

This paper proposes the conversion of manual driven All-Terrain Electric Vehicle (ATEV) into Tele-operated ATEV. This work aims to operate the vehicle remotely from base station through the vehicle simulator display to get the driver’s perspective from the camera mounted on the vehicle. This can be achieved by replacing all the manual operation systems like brake, steering and throttle by respective actuators like servo motors for steering and throttle, and linear actuator for brakes. Steering servo motor will be mounted directly to the pinion. Hence steering is working by rack and pinion principle, when the servo motor rotates, it moves the rack and further it steers the wheel. Linear actuator will be directly connected to brake TMC through leverage. So, when actuator receives the signal, it extends and actuate the brake. Transmission of respective signals for steering, brakes, throttle, and other accessories will be taken vehicle by vehicle control unit which receives the signal from base station through antenna and sends signal to the respective subsystems. Every subsystem like brake, steering, etc. has their own controllers and each controller is working under main vehicle control unit. Communication protocol between these controllers is managed by CAN communication. Cameras used in this vehicle are IP cameras whose feed can be directly taken through IP address. Separate UI has been created for controlling the vehicle from base station which indicates many operations like indicators ON/OFF, Forward/Reverse, etc. This tele operated vehicle can be used for many applications especially in defense for track landmines, attacking purposes with additional attachments. This will reduce the human loss and increase the efficiency.