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Unmanned Flying Robot for Mitigating Bullets

Prem Rishi, S. J. Vijay

Abstract


The goal of this project is to create a bullet blocking robot which would protect a soldier infield. The role played by the robot is to detect a bullet, calculate the bullet’s present position, estimate its trajectory and predict a future point to intercept the target by using a bullet proof material. The robot is constructed with Raspberry Pi Zero microprocessor programmed using the NOOBS under the platform python. The distance to the target is measured using semi circulation with three CMOS cameras placed at different points on a drone (hexacopter). In this setup, the drone can cover an angle of 180 degree. Using a PID controller, the target will always be under the camera's sight, allowing the high torque servomotor holding the bulletproof material to move in one direction while the cameras follow the bullet and its motion on the other hand. A second PID controller for the odometry is used together with two alpha-beta filters to improve the distance measurements by reducing noise in the measurements. The algorithms were successfully implemented, and the accuracy depends on the fps of the camera. The bullet blocking robot is fixed to a hexacopter which has the ability to hold position in the air and to follow the soldier. The drone is constructed using ArduCopter flight controller programmed by various algorithms using the software mission-planner. The bullet proof material is made of combination of Kevlar fabric and special resins in an order.

Keywords


Raspberry Pi Zero, CMOS, PID, odometry, FPS, ArduCopter flight controller

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References


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