DESIGN AND IMPLEMENTATION OF AN UNMANNED VEHICLE

USING A GSM NETWORK WITHOUT MICROCONTROLLERS

Sourangsu Banerji,
Department of Electronics & Communication Engineering,
RCC-Institute of Information Technology, India
Email: [email protected]

ABSTRACT : In the recent past, wireless controlled The IR system follows the line of sight
vehicles had been extensively used in a lot of areas like approach which involves the process of actually
unmanned rescue missions, military usage for pointing the remote at the device being controlled;
unmanned combat and many others. But the major this makes communication over obstacles and
disadvantage of these wireless unmanned robots is that
barrier quite impossible. To overcome such
they typically make use of RF circuits for maneuver
and control. Essentially RF circuits suffer from a lot of problems, a signaling scheme utilizing voice
drawbacks such as limited frequency range i.e. frequency tones is employed. This is known as
working range, and limited control. To overcome such Dual Tone Multi-Frequency (DTMF), Touch-
problems associated with RF control, few papers have Tone or simply tone dialing. A valid DTMF signal
been written, describing methods which make use of is the sum of two tones, one from a low group
the GSM network and the DTMF function of a cell (697-941Hz) and the other from a high group
phone to control the robotic vehicle. This paper (1209-1633Hz) with each group containing four
although uses the same principle technology of the individual tones. DTMF signaling therefore play
GSM network and the DTMF based mobile phone but it an important role in distributed communication
essentially shows the construction of a circuit using
systems such as multiuser mobile radio.
only 4 bits of wireless data communication to control
the motion of the vehicle without the use of any
microcontroller. This improvement results in In this paper, phones making use of the GSM
considerable reduction of circuit complexity and of network interfaced directly with the DTMF
manpower for software development as the circuit built decoder and the motor driver is used to remotely
using this system does not require any form of control an unmanned robotic vehicle thus
programming. Moreover, practical results obtained overcoming the distance barrier problem and
showed an appreciable degree of accuracy of the communication over obstacles with very minimal
system and friendliness without the use of any or no interference but is solely network
microcontroller. dependant. The design of an unmanned vehicle
proposed here does not make use of any
Keywords - DTMF decoder, GSM network, Motor
driver, Microcontroller, Unmanned Surface Vehicles
microcontroller. The transmitter used, is a
(USVs). handheld cell phone.

A literature review is given in section 2

1. INTRODUCTION
followed by our proposed model in section 3. The
In principle, RF (Radio Frequency) can be hardware design framework is discussed in
regarded as the control which deals with the use section 4. The circuit design; construction and
of radio signals to remotely control any device. A working are explained in sections 5 and 6.
remotely controlled vehicle may be defined as any Experimental results, comparison and cost
mobile device which is controlled by means that it analysis are covered in sections 7, 8 and 9. The
does not restrict its motion with an origin external applications and future scope is discussed in the
to the device i.e. the possibility of an existence of sections 10 and 11. Lastly we conclude our paper.
a radio control device, a cable between the control
and the vehicle or an infrared controller. A RCV 2. LITERATURE REVIEW
is always controlled by a human operator and
In 1898, Nikola Tesla built the first propeller-
takes no positive action autonomously.
driven radio controlled boat, which can be
regarded as the original prototype of all modern- implemented without using a microcontroller,
day uninhabited aerial vehicles and precision which was one of the key elements in the design
guided weapons. Records state that it is the first of the circuit. In case of motion control as
among all remotely controlled vehicles in air, land described in these papers [1-4], we found that a
or sea. It was powered by lead-acid batteries and considerable amount of circuit complexity can be
an electric drive motor. The vessel was designed reduced when we omit the use of the
in such a way that it could be maneuvered microcontroller. And the need for writing any
alongside a target using instructions received from software code is also absent.
a wireless remote-control transmitter. Once in its
position, a command would be sent to detonate an 3. PROPOSED MODEL
explosive charge contained within the boat’s
forward compartment. The weapon’s guidance
system introduced a secure communications link
between the pilot’s controller and the surface-
running torpedo in an effort to assure that control
could be maintained even in the presence of
electronic counter measures.

Wireless controlled unmanned vehicles which

are used nowadays typically use RF circuits for
motion and control. But RF circuits suffer from
the disadvantage of limited working range which
results in limited control. As RF circuits’ follows
LOS (Line of sight) approach, it fails miserably in
NLOS (Non-Line of Sight) conditions involving
obstacles and barriers. To overcome these, one Figure 1 Functional Block Diagram
method was proposed by Awab Farikh et al,
(2010) [1] which typically makes use of the
DTMF technology along with a microcontroller
based circuit for maneuver and control of these
unmanned robotic vehicles.

Similarly, Ashish Yadav et al, (2012) [2] also

proposed the construction of an unmanned vehicle
which could be especially used for ground combat
using a similar technology. Recently, Sabuj Das
Gupta et al (2013) [3] discussed in detail about
how the method described in [1] could be
implemented using a microcontroller by providing
the necessary circuit details and the software code.

We implemented the design of an unmanned

vehicle using the same technology as described in
the papers mentioned earlier, modified the
existing circuit and code described in paper [3]
and gave a thorough and detailed analysis of the
design paradigm which is the best possible
explanation to our knowledge till date in [4].

However, upon implementation we also found Figure 2 Block Diagram of the proposed model
that the proposed method could also be
 The diagrams in fig.1 and fig. 2 describe the Integration of both the band split filter and
overall system. The robotic vehicle is basically digital decoder functions makes the DTMF
operated with the help of a GSM enabled mobile decoder a complete receiver. Switch capacitor
phone which makes a call to the phone stacked on techniques for high and low group filters are used;
the robot. The phone at the receiver end perceives digital counting techniques are used to detect and
the DTMF tone from the mobile/cordless phone at decode all 16 DTMF tone pairs into a 4 bit code.
the transmitter end and feeds the signal as input to The external component count is minimized as an
the DTMF decoder. The DTMF decoder processes on chip provision of a differential input amplifier
the tone and feeds the output as input to the motor clock oscillator and latched three state bus
driver. Accordingly the robotic vehicle operates. interfaces are provided. The functional description
The mobile that makes a call to the mobile phone of the MT8870 is given in the following sections:
stacked in the vehicle basically acts as a remote.
So this simple robotic car does not require the 4.1.1 Filter Section:
construction of receiver and transmitter units, Separation of the low group and high group
thereby further reducing the circuit complexity. tones are achieved by applying the DTMF signal
to the input of the two sixth order switched
4. HARDWARE DESIGN FRAMEWORK capacitor band pass filter, the band width of
The blocks of the receiver model which is seen in whose correspond to the low and high group
fig.2 are explained in detail in this section: frequencies. Prior to limiting each filter output is
followed by a single order switched capacitor
4.1 DTMF DECODER filter section which conditions the signal; limiting
An MT8870 (fig. 3) series DTMF decoder is is performed by the use of high gain comparators
used here. The MT8870 series use digital counting which are provided with hysteresis to prevent
techniques to detect and decode all the 16 DTMF detection of unwanted low level signals. Full rail
tone pairs into a 4-bit code output. The need for logic swing is provided at the output of the
pre-filtering is eliminated using the built-in dial comparators at the frequency of the incoming
tone rejection circuit. In single-ended input DTMF signals.
configuration when the input signal given at pin 2,
is effective, the correct 4-bit decoded signal of the 4.1.2 Decoder Section:
DTMF tone is generated and transferred to Q1 In the decoder section, there is a decoder
(pin 11) through Q4 (pin 14) outputs of the DTMF employing digital counting techniques to
decoder which are given as input to the determine the frequencies of the incoming tones
corresponding input pins of the motor driver. and to verify whether they correspond to standard
DTMF frequencies or not. Use of a complex
averaging algorithm protects against tone
simulation by extraneous signals such as voice in
addition to providing tolerance for small
frequency deviations and variations.

The development of this averaging variation

algorithm is to ensure an optimum combination of
immunity to talk off and tolerance in the presence
of interfering frequencies (third tone) and noise.
As the presence of two valid tones is recognized
(this is referred to as the signal condition) the
early steering (Est) output will go in to an active
state. Subsequent loss of signal condition, if any,
will force EST to assume an inactive state.
Figure 3 DTMF decoder configuration
4.1.3 Steering Circuit:
The receiver checks for a valid signal duration
before registration of a decoded tone pair. An
external Resistance Capacitance (RC) of time
constant Est. performs the check. Logic high on Est
causes the collector voltage (Vc) to rise as the
capacitor discharges. The function of the decode
algorithm is to estimate the time required to detect
the presence of two valid tones top, the tone
frequency and the previous state of the decode
logic. EST indicates and initiates an RC timing
circuit.
Figure 4 Motor driver configuration
If both tones are present for the minimum
guide time (tCTP) which is determined by the It basically consists of four drivers. The pins
external RC network, decoding of the DTMF IN1 through IN4 and OUT1 through OUT4 are
signal takes place and the resulting data is latched input and output pins respectively of driver 1
onto the output register. Indication that new data through driver 4. Drivers 1 and 2 as well as
is available is given when the delay steering (StD) drivers 3 and 4 are enabled by enable pin 1 (EN1)
output is raised high. The time required to receive and pin 9 (EN2) accordingly. When enable input
a valid DTMF signal (Trec) is equal to the sum of EN1 (pin 1) is high, drivers 1 and 2 are enabled
time to detect the presence of valid DTMF signals and the outputs corresponding to their inputs are
(tDP) ,guard time and the tone present. active high. Similarly, enable input EN2 (pin 9)
enables drivers 3 and 4.
4.2 MOTOR DRIVER
The L293D is a quad, high-current, half-H 5. CIRCUIT DIAGRAM
driver designed to produce two way drive currents In this section, the circuit diagram of the
of up to 600 mA at voltages ranging from 4.5V to project is shown below (fig. 5). The construction
36V which makes it easier to drive the DC motors and the working methodology of the circuit of the
(fig.4). unmanned robotic vehicle have been discussed in
the following section.

Figure 5 Circuit Diagram

6. CONSTRUCTION & WORKING tones may not be received by the DTMF decoder
at all or a very weak signal would be received by
The unmanned vehicle could either have a two
the decoder, which cannot be easily decoded by it
wheel drive or a four wheel drive. We choose to
[4].
go with a four wheel drive as it provides a better
control and more torque than the two wheel
system. The circuit as shown in fig.5 has been
designed on a breadboard.

The breadboard on which the circuit was

constructed is mounted on a steel chassis. In
addition the cell phone (receiver one) which is
attached to the vehicle is also mounted on the
chassis (not shown in the figure). Motors which
are used for motion of the robotic car are fixed to
the bottom of the steel chassis. In the four wheel
drive system which we had used in the
configuration of our circuit, the motors on both
the sides are managed independently of one Figure 6 Working Model
another. A single L239D motor driver IC is
enough to control the four motors. Now to operate The DTMF tones are fed as input to the DTMF
the vehicle, we need to make a call to the cell decoder which produces the 4 bit equivalent of the
phone attached to the circuit on the receiver side. received tone and passes it on to the motor driver
Moreover, we should note, that the call is only as input. The motor driver on receiving the
possible if the operator on the transmitter side corresponding input drives the motor as specified.
knows the cell phone number of the other phone.
Any GSM enabled phone can be used as the When key ‘6’ is pressed on the mobile phone,
transmitter; which sends the DTMF tones through the robotic car executes forward motion. When we
the existing GSM network. press key ‘9’ on our mobile phone, the car moves
in the reverse direction. When we press key ‘4’,
The tones are received by the receiver phone the car takes a left turn. When we press key ‘2’ on
accordingly. One thing to keep in mind is that the our mobile phone, the vehicle turns in the right
cell phone at the receiver side should be kept in direction. Similarly when ‘0’ is pressed on the cell
auto answer mode, so that the call can be taken phone, the vehicle halts. Five keys on the keypad
after a single ring. The DTMF tones which are are used for motion control of the unmanned car.
received are fed to the circuit through the headset
of the cell phone. 7. EXPERIMENTAL RESULTS

Referring to our circuit diagram (fig.5), the We measured experimental values of the
ring and the tip refer to the two wires that go into frequency of sinusoidal waves for DTMF and
them, which we will get when we will split open voltage level at the out-put pins of MT8870 and
the headset wire of our cell phone. If we cut open L293D motor driver. These values are juxtaposed
the ear phone wire we will see three wires coming with the theoretical values in the Table 1 and 2
out. They are: respectively. Table 3 shows the HEX reading
1. Red wire (headset right output-Ring), obtained from output pins of MT8870 and L293D.
2. Blue wire (headset left output-Tip) and Table 4 shows how the robot’s resultant
3. Copper wire (ground wire). movement is achieved as a combination of the
The wires are laminated and the lamination right and left motor movements. We also
should be removed before they are inserted into compared the output value of the motor driver
the ring and tip positions as shown in the circuit given in Table 5 when input was given from
diagram. If this procedure is not followed, the 1. Microcontroller and
2. DTMF decoder directly.
 TABLE 1 TABLE 5
Frequency Readings Output of L293D Motor Driver
LOWER HIGHER VOLTAGE ACROSS
KEY
FREQUENCY FREQUENCY(Hz) MOTORS MOTOR
(Hz)
FROM
TH. EXP. TH. EXP. FROM
MICRO
DTMF
2 697 672 1336 1320 CONTROL
DECODER
LER
4 770 731 1209 1201
LEFT(MOTION) 4.20 4.80
6 770 731 1477 1475 LEFT(REST) 0.01 0.09
8 852 855 1336 1322 RIGHT(MOTION) 4.20 4.80
5 770 735 1336 1325
RIGHT(REST) 0.01 0.09

TABLE 2 8. COST ANALYSIS

Voltage Readings
Cost analysis is an integral part of any project
OUPUT OUTPUT
VOLTAGE VOLTAGE
that is carried out. In this section, we try to
LOGIC provide an approximate cost estimate of the
LEVEL OF OF L293D
MT8870 project. The components used here can be brought
from any of the online electronics stores which are
TH. EXP TH. EXP.
. found on the internet. Although, most of the
components used in this project can be found in
LOW 0.03 0.09 0 0.11
any college laboratory. A list of the components
HIGH 4.97 4.80 5 4.82 and their prices are given in the following table
(Table 6):
TABLE 3
Hex readings corresponding to robot’s movement
TABLE 6
KEY OUTPUT INPUT ROBOT’S Cost of the Components
PRES OF OF NET Components Quantity Cost
SED MT8870 L293D MOVEMENT MT8870 I.C. 1 $1.95
6 0110 0110 Forward L293D I.C. 1 $1.50
9 1001 1001 Left turn 100kilo-ohm Resistor 2 College Lab
330kilo-ohm Resistor 1 College Lab
4 0100 0100 Right turn
0.47 uF 1 College Lab
2 0010 0010 Backward 22pF 2 College Lab
0.1uF 1 College Lab
0 0000 0000 Stop
Crystal (3.57MHz) 1 $0.15
Geared Motors 4 $12
TABLE 4
Combination of Left and Right Motor Movement Breadboard 1 College Lab
Battery(6V) 1 $4.50
INPUT RIGHT LEFT RESULTANT Total $20.1
MOTOR MOTOR MOTION
ACTION ACTION From the table above we can see that this
unmanned vehicle can be made with components
0110 Forward Forward Forward which are cheap and very readily available in the
1001 Reverse Reverse Reverse market. The circuit was designed keeping in mind
the implementation cost considerations. This total
0100 Forward Stop Left
project cost is around or under $20 and if
0010 Stop Forward Right manufactured in bulk the cost will be even less.
0000 Stop Stop Stop
9. COMPARISION 11. FUTURE SCOPE
In the previous two sections, we have seen that As the microcontroller which is essentially “a
our proposed model achieves a considerable micro-computer on a chip” is not used we are
amount of accuracy as is evident from Table 5 in truly unaware and not certain at this point of time
case of motion control. More specifically looking whether extra functions can be added to the
at the circuit diagram it is clearly visible that our robotic vehicle in addition to direction control.
circuit requires much less components to achieve Considerable amount of intensive research in this
the same objective as is proposed in papers [2-4]. area is required to come to any such definite
From convention reduced circuitry results in less conclusion. Even if it is possible then as described
complexity. in paper [4] the project can be extended to include
A cost analysis shows that our proposed design IR sensors, a camera or even a system for
method is also quite cost effective. This reduces password protection of the USV. Now, IR sensors
manufacturing costs also. There is no need of any can be automatically used to detect and avoid
programming so deployment of manpower to obstacles if the vehicle goes beyond the line of
program the circuit is also not required. sight. Coming to password protection, a brilliant
scheme has already been described in paper [5]
10. APPLICATION where the purpose had been achieved without the
use of any microcontroller. Moreover, still
These unmanned vehicles can have various research is needed to see whether the inclusion of
scientific uses in hazardous and unknown a camera with the vehicle could be achieved
environments. USVs have also been used for without the use of a microcontroller and without
space exploration purposes examples of which are much circuit complexity.
Voyager-I and the Martian explorers Spirit and
Opportunity. Similarly, military usage of these 12. CONCLUSION
robotic vehicles dates back to the first half of the
The basic aim to develop an USV which
20th century [6].
overcomes the drawbacks of the conventionally
used RF circuits has already been achieved in
Remote controlled vehicles are used by many
papers [1-2]. But the method proposed in this
police department bomb-squads to defuse or
paper can be said to improve upon the current
detonate explosives. Current USV's can hover
design or provide an alternative to the existing
around possible targets until they are positively
one. The design described here does not make use
identified before releasing their payload of
of any microcontroller and it can be seen that even
weaponry. USVs also play an increased role in
without the usage of the microcontroller we
search and rescue. These vehicles could be used in
achieve similar and comparable accuracy in
case of natural calamities & emergencies. This
direction control. Whether new functions which
can also be a great asset to save the lives of both
are described in section 11 can be added is beyond
people and soldiers.
the scope of this paper. As discussed in section 9,
the advantage of this system can be summarized
In recent times, there has been a serious
as reduced circuit complexity, reduced cost of
endangerment to the wildlife. Many animals are
manufacturing and ease of deployment. In
significantly on the verge of extinction. These spy
addition to these advantages, the robotic car
robotic cars can be used to patrol the different
constructed based on the design in this paper
sections of the forested areas for any suspicious
would have the same benefits associated with the
activity and since it is a live streaming device as
designs described with microcontroller.
well as mobile, it can keep the forest guards
constantly updated and alert about the status of
Acknowledgements
different areas which are vulnerable to attack. As
a result, it can help to prevent further destruction We would like to thank Prof. Saraswati Saha,
of the forest resources by enabling correct Department. Of Electronics & Communication
prohibitory action at the appropriate time. Engineering, RCC-Institute of Information
Technology, Kolkata, for constantly supporting
and advising on our project.

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