Robotics & Hardware · 2024 · prototype
ANGAAD Defence Robot
Multi-terrain tactical reconnaissance rover with wireless remote telemetry and rugged chassis.
01 / Overview
ANGAAD is an autonomous and teleoperated ground robot engineered for hazardous reconnaissance, perimeter defense inspection, and remote environmental monitoring. Built with an all-terrain high-torque motor drivetrain and wireless visual feedback, it enables operators to safely inspect inaccessible or hostile spaces.
02 / Problem
Defense and perimeter surveillance in unmapped or hazardous zones requires low-cost, expendable robotic scouts that can navigate rough debris without losing RF communication links or tipping over.
03 / Contribution
Designed the chassis structure, power distribution circuit, high-torque DC motor drive architecture, and integrated ESP32/microcontroller-based telemetry links for wireless control.
04 / System architecture
Physical + hardware
- High-torque geared DC drive motors with skid-steer differential drive geometry
- Dual H-bridge high-current motor drivers with heat dissipation heatsinks
- ESP32 / Microcontroller host receiver handling low-latency PWM signal distribution
- Isolated dual-rail Li-ion battery pack with dedicated logic and inductive motor rails
Firmware + software
- Low-latency RF command decoding and failsafe watchdogs for immediate motor cutoff on signal loss
- Differential kinematics algorithm converting joystick linear & angular velocities to motor PWM
- Real-time telemetry packet formatting for battery voltage monitoring
Signal flowDual-rail regulated 11.1V 3S LiPo architecture feeding high-current motor driver ICs with optocoupler-isolated MCU logic to prevent inductive kickback transients.
05 / Engineering decisions
- 01Chosen differential skid-steer over Ackermann steering to enable zero-radius turning in constrained interior environments.
- 02Separated motor power rails from digital sensor logic using buck regulators and transient voltage suppressor (TVS) diodes to suppress inductive noise.
06 / Results + constraints
Observed results
- Operates reliably across rough indoor debris, gravel, and incline surfaces.
- RF link maintains responsive control across 50m line-of-sight range.
- Active run-time of ~45 minutes continuous traversal on full battery charge.
Current limitations
- High power draw during abrupt skid-steer turns increases battery drain.
- Requires real-time FPV camera transmitter upgrade for beyond-line-of-sight navigation.