Embedded Controller for Radar based Robotic Security Monitoring and Alerting System

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