https://github.com/yhs0602/snu_iab_iot_midterm_discoveryrobot

A short term project for SNU IAB IoT class midterm. This is a software (arduino sketch) for a human-searching disaster help robot.
https://github.com/yhs0602/snu_iab_iot_midterm_discoveryrobot

arduino camera discovery esp32 homework indoor-positioning iot iot-device ov7670 robot snu

Last synced: 9 days ago
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A short term project for SNU IAB IoT class midterm. This is a software (arduino sketch) for a human-searching disaster help robot.

• Host: GitHub
• URL: https://github.com/yhs0602/snu_iab_iot_midterm_discoveryrobot
• Owner: yhs0602
• License: apache-2.0
• Created: 2019-10-13T13:28:58.000Z (about 5 years ago)
• Default Branch: master
• Last Pushed: 2022-04-01T19:20:27.000Z (over 2 years ago)
• Last Synced: 2023-09-05T10:38:22.960Z (about 1 year ago)
• Topics: arduino, camera, discovery, esp32, homework, indoor-positioning, iot, iot-device, ov7670, robot, snu
• Language: C++
• Size: 22.8 MB
• Stars: 1
• Watchers: 2
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# SNU_IAB_IOT_Midterm_DiscoveryRobot

A short term project for SNU IAB IoT class midterm. This is a software (arduino sketch) for a human-searching disaster help robot.

## Implemented

### Optical Camera

1. The QQVGA camera video frames are streamed via WiFi websocket, and displayed on the admin's browser. 

### DC motors

1. It has two motors to move the robot around: right and left.

| motors\directions  |  straight | right  |  left | back  |

|---|---|---|---|---|

|  right |  + | -  |  + | -  |

|  left | +  |  + | -  |  - |

## Improvements

These could not be implemented due to time limitations or lack of related knowledge.

### Indoor positioning

1. It scans for WiFi APs around it and calculate distance using RSSI.

1. Repeat `1.` three times at different positions.

1. Calculte APs' relative positions.

1. From now on, repeat `1.` to find itself's position, assuming that the APs are in fixed positions.

**Problem: I could not find a way to retrieve the original transmission power of broadcasted APs**

**AND it seems that there are NO simple ways to retrieve the original transmission power of broadcasted APs, and I cannot make the ESP32 board to hack the AP and add API in runtime. (Source : https://stackoverflow.com/a/58422150/8614565)**

## Supersonic sensors

1. It helps the positioning process to be more accurate.

1. The sensor heading above analyzes the ceiling over it.

## Human detection

1. It has a human detecting sensor to help a person notify admin that they are there.

**Problem : I used up all the GPIO pins of ESP32. Could not use [IO expander](https://www.instructables.com/id/IO-Expander-for-ESP32-ESP8266-and-Arduino/) due to lack of time**