Call for Paper - November 2023 Edition
IJCA solicits original research papers for the November 2023 Edition. Last date of manuscript submission is October 20, 2023. Read More

Embedded Controller for Radar based Robotic Security Monitoring and Alerting System

International Journal of Computer Applications
© 2012 by IJCA Journal
Volume 47 - Number 23
Year of Publication: 2012
V. Ramya
B. Palaniappan
Subash Prasad

V Ramya, B Palaniappan and Subash Prasad. Article: Embedded Controller for Radar based Robotic Security Monitoring and Alerting System. International Journal of Computer Applications 47(23):42-49, June 2012. Full text available. BibTeX

	author = {V. Ramya and B. Palaniappan and Subash Prasad},
	title = {Article: Embedded Controller for Radar based Robotic Security Monitoring and Alerting System},
	journal = {International Journal of Computer Applications},
	year = {2012},
	volume = {47},
	number = {23},
	pages = {42-49},
	month = {June},
	note = {Full text available}


In the mobile robot navigation, the ultrasonic sensors have been widely used for the obstacles detection and map building because of its cost and efficiency. Generally sensors are used to increase the accuracy of the obstacles position and decrease the time. In this paper an ultrasonic sensor is interfaced on to a stepper motor which will be constantly revolving and detecting the values of any obstacle in its path in all the 360°. In Stepper motors, on the other hand, effectively have multiple "toothed" electromagnets arranged around a central gear-shaped piece of iron. The electromagnets are energized by an external control circuit, such as a Microcontroller. To make the motor shaft turn, first, one electromagnet is given power, which makes the gear's teeth magnetically attracted to the electromagnet's teeth. When the gear's teeth are aligned to the first electromagnet, they are slightly offset from the next electromagnet. In each angle the position of the stepper motor is sent to the monitoring end along with ultrasonic values serially so that we are able to track the object coming from various distances. At the monitoring end, the values of step position for each rotation is received along with the ultrasonic values indicating the user the exact position of intruder or object in the exact direction. And also video is delivered to the monitoring end to know the situation of current scenario. If the value of the ultrasonic sensors increased to its range then the SMS gateway is activated and a security SMS is sent to the authorized person. This project can be utilized for security purposes in extreme weather conditions which replace human surveillance and thereby save the human lives.


  • Bafen chen, System to detect the obstacle in unknown environment, 18th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Amsterdafd-9 9. 6.
  • Dong-Won Jung, Multi-Channel Ultrasonic Sensor System for Obstacle Detection of the Mobile Robot, International Conference on Control, Automation and Systems 2007.
  • A. Cherubini, Development of a multimode navigation systemfor an assistive robotics project 2007 IEEE International Conference onRobotics and AutomationRoma, Italy, 10-14 April 2007.
  • Chidambar Ganesh, Ultrasonic Sensor-based Motion Control for Robotic Manipulators, Automated Systems Laboratory, Department of Engineering, Colorado School of Mines.
  • Randal Beard, Derek Kingston, Morgan Quigley, Deryl Snyder, Reed Christiansen, Walt Johnson, Timothy McLain, and Michael A. Goodrich, Autonomous vehicle technologies for small fixed-wing UAVs. Journal of Aerospace Computing, Information, and Communication,No. 2:92–102, January 2005.
  • Allen D. Wu, Eric N. Johnson, and Alison A. Proctor, Vision-aided inertial navigation for flight control. Journal Of Aerospace Computing, Information, and Communication, 2(9):348–360, 2005.
  • E. W. Frew, X. Xiao, S. Spry, T. McGee, Z. Kim, J. Tisdale, R. Sengupta, and J. K. Hendrick. Flight demonstrations of self-directed collaborative navigation of small unmanned aircraft. In AIAA 3rd Unmanned Unlimited Technical Conference, September 2004.
  • Ruggero Frezza and Claudio Altafini. Autonomous landing by computer vision: an application of path following in SE(3). In Conference on Decision and Control, December 2004.
  • Sudesh Kumar Kashyap, Girija G. , and J. R. Raol. Evaluation of converted measurement and modified extended Kalman filters for target tracking. In AIAA Guidance, Navigation and Control Conference and Exhibit, August 2003. Jusuk Lee, Rosemary Huang, Andrew Vaughn, Xiao Xiao, and J. Karl Hedrick. Strategies of path-planning for a UAV to track a ground vehicle. In Proceedings of the 2nd Anual Autonomous Intelligent Networks and Systems Conference, 2003.
  • L. Ma, C. Cao, V. Dobrokhodov, I. Kaminer, K. Jones, and I. Kitsios. Rapid motion estimation of a target moving with time-varying velocity. In AIAA Guidance, Navigation and Control Conference and Exhibit, August 2007.
  • L. Ma, C. Cao, N. Hovakimyan, C. Woolsey, V. Dobrokhodov, and I. Kaminer. Development of a vision-based guidance law for tracking a moving target. In AIAA Guidance, Navigation and Control Conference and Exhibit, August 2007.