Autonomous Mobile Robot with integrated Defense

Published Jul 01, 2024
 298 hours to build

This autonomous mobile robot is designed for enhanced security and is capable of detecting and neutralizing threats using advanced sensors and deep learning algorithms. It features precise control mechanisms, real-time mapping, and secure communication to ensure efficient and autonomous operation in security-sensitive environments.

display image

Components Used

Raspberry Pi 4 Model B - 8 GB RAM
Single Board Computers The factory is currently not accepting orders for this product.
MQ135 Gas Sensor
MQ135 is a gas sensor used for gas detection and air quality control.
DHT11 is a single wire digital humidity and temperature sensor, which gives relative humidity in percentage and temperature in degree Celsius.
Neo-6M GPS Module
GNSS / GPS Development Tools Grove - GPS
Relay module 4 Channel
Relay module 4 Channel
Rhino 12v 60 Rpm dc motor
Rhino Heavy Duty Planetary Geared motors are a game changer for the machinery industry. The high quality base motors are coupled with a robust and sturdy metal gearbox with 4 stages which can withstand a massive breaking torque of 100 kgs.For the 60 rpm motor you can run the motor continuously upto approx 40 Kgcm load with maximum efficiency. You may increase the load till 75 kgcms which is maximu
Ds3240mg 180 Degree 40kg.Cm Servo Motor
Servo Motors are great for applications where output positional control is required. These servos rotate between 0 and 180 degrees only. The shaft can be moved to any required angle using PPM signal. Servo motors are the easiest to use motors as they do not require external motor drivers, feedback sensors, etc. Just connect it to your microcontroller to a Digital IO pin and you can start controlli
Nema 17 45kg.Cm Stepper motor
NEMA17 Stepper Motor is designed to deliver smooth and precise performance for a wide range of applications. With a Detent torque of 59 mN.m, this motor provides exceptional accuracy and stability, ensuring that your projects are completed with the utmost precision. This stepper motor is an excellent option for various automation projects, including 3D printers and CNC machines. Its high torque a
Pulsar Motor - 2207 2450kv
Dominate the skies and redefine your FPV drone racing and freestyle flying with the EMAX Pulsar LED Motor - 2207 2450KV. This groundbreaking brushless motor is engineered for the most demanding pilots, combining cutting-edge technology with stunning aesthetics. Innovative Features: Throttle Input Feedback System: The Pulsar motor's base illuminates based on the power input, providing a real-time
Lipo Battery 16000mah Lipo
Orange 16000mAh 4S 35C Lithium polymer battery Pack (LiPo) the battery is known for performance, reliability, and price. It’s no surprise to us that Orange Lithium polymer packs are the go-to pack for those in the know. The Orange batteries deliver the full rated capacity at a price everyone can afford. Orange 16000mAh 4S 35C Lithium polymer battery Pack (LiPo) batteries are equipped with
Aluminium Sheet
Industrial equipment: Aluminum sheet metal plates are employed in manufacturing equipment, machinery components, and enclosures for their strength, lightness, and resistance to corrosion and high temperatures. Signage and displays: Aluminum sheets are used for outdoor signs, billboards, and displays due to their weather resistance and ability to be easily cut and shaped into various sizes and desi
Aluminium Profile 20mm,30mm Aluminium Profile Of Length 50 Cm
Aluminum profiles are products born from aluminum alloys that are transformed into shaped objects through the extrusion process. Aluminum's unique combination of physical characteristics mostly depends on this process. Aluminum extrusions are used in several fields because this metal is: Strong and stable.
Bearing 6812-2rs 60mm x 78mm x 10mm (Id x Od x Width)
Single-row, pre-lubricated, normal accuracy. Deep Groove Ball Bearings are one of the most widely used rolling bearings. With small friction and high-limit speed, Ball Bearings are cost-effective and require little maintenance. Suitable for all kinds of industrial equipment, micro motor, small rotary motor, office equipment and so on.
Esc 40a Electronic Speed Controller
ReadytoSky 40A 2-4S ESC is specifically made for quadcopters and multi-rotors. Which provides faster and better motor speed control giving better flight performance compared to other available ESCs. ReadytoSky 40A 2-4S ESC comes with a multi-integrated special program, fast throttle response, surpasses all kinds of open-source software. Firmware was optimized specifically integrated circuitously
RpLidar A2m12 360 Degree Laser Scanner/ 12m Range
The RP LIDAR A2M12 360 degrees Laser Range Finder-12 Meter Range is the next-generation low-cost 360 degrees 2D laser scanner (LIDAR) solution. It can take up to 16000 samples of laser ranging per second with high rotation speed. And equipped with SLAMTEC patented OPTMAG technology, it breakouts the life limitation of the traditional LIDAR systems so as to work stably for a long time.
Depth Camera Real Sense d435
The Intel® RealSense™ D435 offers the widest field of view of all our cameras, along with a global shutter on the depth sensor that is ideal for fast-moving applications. The Intel® RealSense™ depth camera D435 is a stereo solution, offering quality depth for a variety of applications. Its wide field of view is perfect for applications such as robotics or augmented and virtual reality, where seei
Logitech Brio Ultra Hd Pro
4K Ultra HD video calling (up to 4096 x 2160 pixels @ 30 fps) 1080p Full HD video calling (up to 1920 x 1080 pixels @ 30 or 60 fps) 720p HD video calling (up to 1280 x 720 pixels @ 30, 60, or 90 fps) Plug-and-play USB connectivity Field of View: Diagonal: 90° Horizontal: 82.1° Vertical: 52.2°
Buck Converter 10a Dc-Dc 7-40v To 1.2-35v Buck Converter
The 10A DC-DC Step-down Adjustable Constant Voltage Module can be used to get adjustable output voltage ranges from 1.5V to 35V. The module provides a wide range of current output up to 10 A. With heat sink mounted it can easily manage to run high power application continuously (provided that for continuous high power output you need to use a cooling fan on the heat sink).
Relay 4&2 Channel
This 4 Road/Channel Relay Module (with light coupling) 12V module meet the safety standard as control areas and load area have the isolation groove. Optical coupling isolation module. The triggering of 4 Road/Channel Relay Module is reliable, more stable. The double FR–4 circuit board design, high-end SMT process. It has power and relay operation instructions.
IMU Sensor BUO-055 Sensor
The Adafruit 9-DOF Absolute Orientation IMU Fusion Breakout - BNO055 is a high-performance sensor module designed to provide stable three-axis orientation output by blending accelerometer, magnetometer, and gyroscope data using advanced sensor fusion algorithms.
Emergency Button Salzer Emergency Switch
The Emergency stop switch push button is for emergency stop. It is Made of high quality material. It has long service life Built-in screw-type connecting cable. Reset by turning the button as the arrows show and don't turn inversely.
Cooling Fan 12v Dc Cooling Fan
This 12V DC Brushless fan is very easy to use, it just needs to be powered up with a 12V power source. It has low current consumption and finds its application in a lot of projects like cooling Peltiers and heatsinks. It is high-temperature resistant and extremely durable. Excellent for cooling heat sinks on hot ends, prints, or other cooling needs. Increased ventilation to keep the electronics
Dc Motor Driver Md 10c Rc Driver
This is Cytron Enhanced 13Amp DC Motor Driver 30A peak (10 seconds) MD10C. The MD10C is a newer version of the MD10B which is designed to drive high current brushed DC motor up to13A continuously. It offers several enhancements over the MD10B such as support for both locked-antiphase and sign-magnitude PWM signal as well as using full solid state components which result in faster response time.
Stepper Driver Tb6600 Stepper Motor Driver
TB6600 Stepper Motor Driver is an easy-to-use professional stepper motor driver, which could control a two-phase stepping motor. It is compatible with microcontrollers that can output a 5V digital pulse signal. TB6600 stepper motor driver has a wide range of power input, 9~42VDC power supply. And it is able to output 4A peak current, which is enough for the most of stepper motors.



         This proposed idea presents an advanced defense robot to address the critical need for efficient and autonomous threat detection and neutralization in security-sensitive environments. The autonomous defense robot is designed to enhance security by identifying and responding to threats with high precision. The robot ensures agile and accurate movements by utilizing precise control mechanisms for its servomotors. Powered by a Raspberry Pi 4 Model B with 8GB RAM, the system runs advanced image processing and navigation algorithms and incorporates the Robot Operating System (ROS) package as its core framework. Path planning and obstacle avoidance are enhanced by the implementation of the DWA Local Planner, ensuring dynamic and safe navigation. The robot's environment perception is facilitated by a Logitech camera for mapping and an RP RpLidar A2M12, enabling real-time 3D mapping and environmental awareness. For threat identification, a Real Sense Depth Camera is employed, allowing precise and reliable detection. Communication between the control units is established via MQTT, providing reliable and secure data transmission to headquarters. Sensor fusion techniques, including an Extended Kalman Filter (EKF) integrating GPS, IMU, gas, and temperature sensors, enhance the robot's localization and operational accuracy. Additionally, deep learning algorithms, particularly YOLO V8, are employed for image processing and precise threat identification. The robot's adaptive shooting mechanism, powered by BLDC motors, ensures swift and accurate responses to identified threats, minimizing collateral damage. This study presents a smart, autonomous solution tailored for defense applications, significantly enhancing security and operational efficiency in various environments. 


         Autonomous Mobile Robot with integrated defense capabilities. An Autonomous Mobile Robot (AMR) with integrated defense capabilities is a sophisticated device designed to autonomously navigate and patrol various environments, enhancing security and reducing human risk. It utilizes advanced sensors such as LIDAR, depth cameras, and IMU sensors to map its surroundings and avoid obstacles. The robot's mobility is powered by high-precision DC motors, ensuring smooth and controlled movement. Central to its operation is a Raspberry Pi 4 with 8GB RAM, which processes sensor data in real time for effective decision-making. The AMR is equipped with high-definition cameras and specialized sensors, including gas and temperature sensors, to detect and identify potential threats. Once a threat is confirmed, the robot communicates with headquarters through secure channels to report its findings and receive further instructions. If authorized, the integrated shooting mechanism, controlled by servo motors and BLDC motors, can neutralize the identified threats. The robot is powered by a high-capacity Li-Po battery, with voltage regulation provided by buck converters. Cooling fans are installed to prevent overheating of critical components, ensuring reliable operation in various conditions. This AMR is particularly suited for border security applications, where it can autonomously patrol designated areas, detect and report threats, and take necessary action under remote command, thereby significantly enhancing safety and operational efficiency.


Shooting Mechanism Design:

AMR Design:                                                                         


Complete Design of the Bot:                                            

Circuit Diagram of the AMR:

3.1 List of Structure Components 

3.1.1 Dc Motor 

         These motors enable us to navigate through diverse landscapes with ease, from rugged mountainsides to sandy deserts. Their adaptability ensures efficient performance across different terrains, enhancing our mobility and operational capabilities. With DC motors at our disposal, we can confidently tackle any terrain, overcoming obstacles and reaching our destination reliably. 

3.1.2 Servo 

The servo motor plays a crucial role in adjusting the angle of the depth camera, enabling precise control over its field of view. By manipulating the servo motor, the orientation of the depth camera can be altered to capture specific areas or objects with accuracy. This capability enhances the versatility of the depth camera, allowing it to adapt to different environments and scenarios. 

3.1.3 Stepper 

         The stepper motor plays a crucial role in adjusting the angle of the turret system precisely and efficiently. Its ability to move in discrete steps allows for accurate positioning of the turret, ensuring precise targeting or alignment as needed. 

3.1.4 Battery 

         We are utilizing a 16000mAh capacity Li-Po battery for our AMR defense robot. With its substantial power reserve, this battery ensures prolonged operation and endurance during critical missions. The high capacity of the battery enables our robot to maintain peak performance for extended periods, enhancing its effectiveness in defending against threats. This Li-Po battery's reliability and efficiency contribute significantly to the overall functionality and readiness of our defense system. 

3.1.5 Wheel 

         We are using custom-made wheels for robot movement. These wheels are specifically designed and manufactured to meet the unique requirements of our robotic system, ensuring optimal performance and efficiency. 

3.1.6 BLDC Motor 

         BLDC motors can be controlled with great precision, allowing for accurate control of the shooting mechanism's speed and position. This precision is essential for aiming and firing projectiles effectively in a defense bot. KV: 2450KV

3.2 List of Motion Components 

3.2.1 Bearings

         We use bearings to minimize friction in a BLDC motor that operates at 4900kv. These bearings are crucial for ensuring the smooth rotation of the motor and maintaining its efficiency. Additionally, bearings play a vital role in the rotating turret mechanism, reducing wear and tear.

3.2.2 Spur Gear

         We are using a spur gear to increase the speed of a BLDC motor at a 1:2 ratio. This setup allows us to achieve a speed of 4950 KV. Such a high speed is particularly useful for shooting enemies. The increased speed provides a significant advantage in targeting and impact. 

3.3 List of Electronics Components

3.3.1 Raspberry Pi

         We are utilizing Raspberry Pi for image processing and robot navigation, as well as path planning for an AMR robot. The Raspberry Pi serves as the central processing unit for these tasks, enabling efficient computation and decision-making. Through image processing, the robot can perceive its environment, while navigation algorithms on the Raspberry Pi guide its movement. Additionally, path planning algorithms running on the Raspberry Pi optimize the robot's route for efficiency and obstacle avoidance.

3.3.2 Real Sense Depth Camera

         We are utilizing a Real Sense depth camera for threat detection or any terrorist attack at military borders through image processing. The Real Sense depth camera is deployed to identify potential terrorist activities along the borders. By leveraging its advanced capabilities, we can enhance border security with precise and real-time threat detection. The detailed depth information provided by the camera is crucial for identifying suspicious activities. Its integration into our defense system significantly improves the accuracy of monitoring and analyzing images for threats.

3.3.3 Logitech Camera

         Utilizing a Logitech camera, the robot can effectively map its surroundings and plan its route. The integration of the Logitech camera enhances the robot's ability to navigate complex environments and terrains. The robot can detect and avoid obstacles during its path-planning process. The camera gathers real-time data that is immediately transmitted to headquarters.

3.3.4 Lidar

         Utilizing RPLIDAR (Light Detection and Ranging) for 3D mapping and localization, enabling obstacle avoidance. By integrating RPLIDAR into our system, we enhance spatial awareness and ensure precise navigation. With its advanced sensing capabilities, RPLIDAR facilitates real-time detection of obstacles, enhancing safety and efficiency.

Scanning Range: 18M Radius

Detection Range:  12M Radius

3.3.5 Dc Motor Driver

         This driver ensures efficient power delivery to the motor, enhancing its performance. The motor driver regulates the speed and direction of the wheel, enabling precise control over its movement. With this setup, our vehicle achieves smooth and reliable operation. The integration of the DC motor driver significantly enhances the functionality and responsiveness of the wheel system.

3.3.6 Stepper Driver

         We are utilizing a stepper driver for the stepper motor in the turret. This driver ensures precise control over the motor's movements. With its advanced features, we can achieve accurate positioning of the turret mechanism. The stepper driver enhances the overall performance and reliability of the turret system. Its integration optimizes the functionality of our turret for smooth operation.

3.3.7 IMU Sensor

         We are using a BNO-055 IMU sensor to determine the current position of the robot. This sensor helps in tracking the robot's orientation, acceleration, and angular velocity. By integrating the data from the IMU, we can accurately estimate the robot's movement and position over time. This information is crucial for ensuring precise navigation and control of the robot.
3.3.8 Gas Sensor

         Utilizing a gas sensor to detect hazardous gases in the mission zone, the system will continuously monitor air quality. Any detection of hazardous gases will trigger an alert, promptly notifying the personnel on site. Simultaneously, real-time data will be transmitted to headquarters for analysis and decision-making. This ensures immediate response to potential dangers, enhancing the safety of the mission.

3.3.9 Temperature Sensor

          Using a temperature sensor to monitor the temperature in the patrol zone. This sensor provides real-time data, allowing us to ensure optimal conditions. Regular monitoring helps us detect any anomalies early. By keeping the temperature within the desired range, we maintain the safety and efficiency of the mission.

3.3.10 Relay

         Using a relay to control the LED light. The relay acts as a switch that can turn the LED on and off. By sending a signal to the relay, we can easily manage the LED's power. This will allow for efficient control of the lighting system.

3.3.11 Buck Converter

         Buck converter to step down the voltage from 12V to 5V for Raspberry Pi. This voltage conversion is crucial to ensure the proper operation of the device. The buck converter efficiently reduces the higher voltage to a stable 5V output.

3.3.12 GPS

         We are utilizing GPS for outdoor navigation of autonomous mobile robots (AMRs).By integrating GPS with our AMRs, we can enhance their operational efficiency and reliability. The GPS system provides real-time location data, which is essential for precise movement and obstacle avoidance.

3.3.13 Battery Indicator

         A battery level indicator is a device or feature that provides information about the remaining charge or voltage level of a battery. It helps us monitor the status of their batteries and gauge when they need recharge.

3.3.14 Emergency Switch

         In the event of an AMR failure or malfunction, we utilize an emergency switch to ensure safety and continued operation. This switch acts as a backup to mitigate any risks associated with the automated system's downtime. By manually activating the emergency switch, operators can maintain control and prevent potential hazards.

3.3.15 ESC

         ESC (Electronic Speed Controller) to regulate the speed of the BLDC (Brushless DC) motor. The ESC allows us to precisely control the motor's speed by adjusting the power supplied to it. This setup ensures smooth operation and improves the motor's performance.


4.1 DWA Local Planner for Path Planning

         The DWA local planner algorithm is a sophisticated method used in robotics for planning a robot's path. It considers both the environmental obstacles and the dynamics of the robot itself to generate an optimal trajectory. The goal is to minimize a cost function, t J, which represents a measure of how well the generated trajectory satisfies certain criteria, subject to various constraints.

The general formulation of the optimization problem solved by the DWA local planner can be expressed as :

Here, the symbols represent the following: 

J: The cost function to be minimized, which is often a measure of the path's quality or efficiency. 

L(x(t),u(t),t): The Lagrangian function, representing the local cost at each time step, typically defined in terms of the state x(t) x(t), control input u(t) u(t), and time t. 

x(t): The state of the system at time t t, describing the robot's position, velocity, and possibly other relevant variables. 

u(t): The control input applied to the system at time t t, determining the robot's actions or motions. 

x ˙ (t): The derivative of the state  x(t) x(t) with respect to time, representing the system dynamics.

f(x(t),u(t),t): The dynamics function, specifies how the state evolves based on the current state, control input, and time. 

t0 and tf: The initial and final time points, respectively, defining the time interval over which the optimization is performed.

         The objective of the optimization problem is to find the state trajectory x(t) and control input trajectory u(t) that minimizes the integral of the Lagrangian function L(x(t),u(t),t) over the time interval from t0 to tf while satisfying the system dynamics constraint (t)=f(x(t),u(t),t).

         In the DWA local planner algorithm, this optimization problem is solved iteratively to generate a trajectory that navigates the robot from its current position to a goal position while avoiding obstacles and considering the robot's dynamics. The specific form of the cost function J, Lagrangian function L, and dynamics function f would be tailored to the requirements and characteristics of the robot and its environment

                                                                                          DWA Workflow


         Integrating an Extended Kalman Filter (EKF) for sensor fusion in autonomous defense robot. The seamless combination of data from GPS, IMU, gas, and temperature sensors. The EKF enhances the robot's ability to accurately track and respond to its environment by filtering and merging these diverse sensor inputs. This integration provides robust and reliable state estimation, essential for navigation, threat detection, and operational efficiency. By leveraging the strengths of each sensor, the EKF ensures optimal performance, enabling the autonomous defense robot to execute its missions with heightened precision and adaptability.

4.3 MQTT

         Integrating MQTT with the defense robot enables us to transmit its coordinates to headquarters efficiently. This integration allows real-time monitoring and precise tracking of the robot's movements. The use of MQTT ensures a reliable and secure communication channel, minimizing the risk of data loss or interception. By providing constant updates on the robot's location, headquarters can make informed decisions, enhance operational efficiency, and respond promptly to any emerging threats.


         Using Node-RED to create a dashboard, the data received from the robot is displayed to the headquarters. By integrating Node-RED with the robot’s data streams, the headquarters can track activities, detect anomalies, and address issues promptly, ensuring optimal performance and minimizing downtime. This ensures that the headquarters can make informed decisions quickly, improving operational efficiency and response times


         Utilizing deep learning algorithm for image processing and threat detection using Yolo V8. Through advanced neural networks, the robot scans its surroundings with unparalleled precision, swiftly identifying potential threats amidst complex environments. Upon detecting a threat, the robot's response is immediate and decisive. The orientation of its turret and shooting mechanism dynamically adjusts, aligning itself with the perceived danger. This seamless adaptation ensures that the robot can effectively neutralize threats with optimal speed and accuracy.

         Moreover, by integrating deep learning into the robot's shooting mechanism, which rotates along two axes. we enhance its agility and responsiveness in engaging threats from multiple directions. This adaptive approach not only improves the effectiveness of our defense capabilities but also minimizes the risk of collateral damage by precisely directing firepower toward identified threats.

         The integration of deep learning technology not only enhances the robot's threat detection capabilities but also enables it to adapt to evolving security challenges. Through continuous learning and refinement of its algorithms, the robot remains at the forefront of defense, providing reliable protection in diverse scenarios. our autonomous defense robot is equipped with the ability to swiftly and accurately analyze visual data, enabling it to detect potential threats with remarkable efficiency.

Workflow of the Shooting Mechanism:

Workflow of the AMR:

step 1. Chassis Design and Material Selection

  • Design: Use SolidWorks to create a detailed CAD model of the robot’s chassis. Ensure that the design accommodates all components, provides stability, and meets the project’s requirements.
  • Material Selection: Choose aluminum profiles for structural support and aluminum sheets for the main body due to their lightweight and durable properties.

step 2. Cutting and Shaping

  • Aluminum Sheets: Manually cut the aluminum sheets according to the CAD design, ensuring precision and smooth edges. Use appropriate cutting tools such as metal shears or a hacksaw.
  • Profiles: Cut aluminum profiles to the required lengths for the frame and support structures, ensuring precise measurements.

step 3. Drilling and Slotting

  • Drilling: Drill holes in the aluminum sheets and profiles for mounting motors, sensors, controllers, and other components. Ensure accurate placement and alignment of the holes for easy assembly.
  • Slotting: Create any necessary slots or channels for wiring and component placement, using hand tools or a milling machine if available.

step 4. Assembly

  • Frame Assembly: Assemble the frame using the aluminum profiles. Connect the profiles using screws and brackets, ensuring a sturdy and stable structure.
  • Component Mounting: Mount the aluminum sheets onto the frame to form the main body. Securely attach motors, sensors, and the microcontroller to the chassis using screws and brackets. Ensure all components are firmly in place.

step 5. Wiring and Electronics Integration

         Carefully route all wiring for power and data signals, ensuring they are securely fastened and protected from damage. Use cable ties and protective tubing to organize and protect the wires.

step 6. Component Integration

  • Microcontroller Setup: Mount the Raspberry Pi 4 Model B (with 8GB RAM) securely onto the chassis, ensuring it is easily accessible for wiring and maintenance.
  • Power Connections: Connect the Li-Po battery to the Raspberry Pi. Use buck converters to step down the voltage as needed.
  • Motor Controllers: Connect motor controllers to the Raspberry Pi. Ensure each motor (DC, servo) is correctly wired to its controller.
  • Sensor Integration: Attach sensors (LIDAR, depth cameras, IMU, gas, and temperature sensors) to the Raspberry Pi. Ensure secure and correct connections for reliable data transmission.
  • Defense Mechanism: Integrate the defense mechanism control system with the Raspberry Pi. Connect servo motors to GPIO pins for precise control and ensure the firing mechanism is securely wired and tested.

step 7. Wiring and Cable Management

  • Cable Routing: Neatly route all wires, securing them with cable ties and protective tubing. Ensure wires are organized and do not interfere with moving parts.
  • Power Distribution: Ensure that all components receive appropriate power levels, using buck converters where necessary to step down voltage.
  • Data Connections: Verify all data connections between sensors, motors, and the Raspberry Pi. Double-check connections to avoid loose wires and potential short circuits.

step 8. Software Development and Configuration

  • Operating System: Install the Ubuntu OS on the Raspberry Pi. 
  • Robot Operating System (ROS): Install and configure ROS to manage the robot’s control systems, sensor integration, and communication.
  • Driver Installation: Install drivers for all connected hardware, including motor controllers and sensors. Ensure each component is recognized and functioning correctly.
  • Path Planning and Navigation: Implement path planning algorithms such as the DWA Local Planner to enable efficient navigation and obstacle avoidance.
  • Image Processing and Threat Detection: Use deep learning framework TensorFlow to implement YOLO V8 for real-time image processing and threat detection. Integrate the model with the ROS framework.
  • Communication Protocol: Set up secure communication channels using MQTT for data transmission between the robot and headquarters. Ensure data is encrypted and transmitted reliably.


         The AMR defense robot enhances security in several societal contexts. It autonomously patrols borders, reducing the risk to human patrols in dangerous areas. In military zones, it provides surveillance and rapid threat response, ensuring personnel safety. The robot secures critical infrastructure such as power plants and communication centers with continuous monitoring, preventing potential sabotage or attacks. It monitors large sites in industrial settings to prevent unauthorized access and detect hazards, improving overall safety and operational efficiency. This versatile robot thus significantly contributes to public safety and national security.

                                                               ➢Border Security

                                                               ➢ Military Zones

                                                               ➢Industrial Security


Length  46cm

7. Milestones:

End of Week 1: Initial mechanical assembly and fabrication started, electronic integration started, deep learning models were chosen.

End of Week 2: Mechanical assembly, fabrication, and electronic integration continued, deep learning model training started, and control algorithms and sensor fusion techniques developed.

End of Week 3: Mechanical assembly, fabrication, and electronic integration completed, deep learning model training continued, hardware and software components integrated.

End of Week 4: Fabrication completed, deep learning model training continued, control algorithms and sensor fusion techniques refined, initial testing conducted.

End of Week 5: Unit testing and integration testing are ongoing.

End of Week 6: Integration testing continued; simulation testing started.

End of Week 7: Fabrication, integration testing completed, simulation testing, and deep learning model validation ongoing.

End of Week 8: Field testing conducted, final adjustments, deployment, and initial monitoring set up.


8.1. Introduction

Project Title: Autonomous Mobile Robot (AMR) with Integrated Defense Capabilities

Objective: Enhance security through autonomous patrolling and threat neutralization.

Scope: Focus on border security, military zones, and industrial security.

8.2. Significance

Problem Statement: Address the need for advanced security measures in high-risk areas.

Significance: Reducing human risk, enhancing operational efficiency, and ensuring rapid response to threats.


8.3. Methodology

Path Planning: DWA Local Planner for optimal trajectory generation.

Sensor Fusion: Extended Kalman Filter (EKF) for integrating data from multiple sensors.

Threat Detection:

  • Deep Learning:
    • Model Selection: Uses state-of-the-art deep learning models for object detection and threat identification.

Shooting Mechanism:

            Reorients the shooting mechanism towards the target from the data taken from the human detection.

8.4. Applications

                ➢ Border Security

                ➢Military Zones

                ➢Industrial Security

8.5. Conclusion

         Our project aims to contribute to enhancing security measures by providing an effective and autonomous solution for threat detection, while also showcasing the capabilities of interdisciplinary collaboration in addressing complex engineering challenges. We are confident that with our expertise and dedication, we will successfully deliver an autonomous robotics system that meets the highest standards of performance and reliability.



Schematic Design Download
Full Bot Design Download
Maping Screenshot Download
3D Design Of The Bot Download

Institute / Organization