Autonomous/Web Controlled Raspberry Pi & Arduino Robot.
Main hardware:
- 1x Arduino Uno.
- 1x Raspberry Pi 3 Model B.
- 1x Raspberry Pi Camera Module v2.
- 1x DFRobot 4WD Arduino Mobile Platform.
- 2x L298 Dual H-Bridge DC Motor Controller.
- 5x Sharp GP2Y0A21YK0F IR Range Sensor - 10 cm to 80 cm.
- 1x Power bank.
Features:
- Autonomous navigation of simple mazes.
- Basic computer vision for detection of "color signs".
- Video streaming.
- Web interface for manual control and monitoring (desktop & mobile).
- PD controller.
Functionality:
- The Arduino reads and filters the IR sensors, implements the PD controller, controls the motor controllers via PVM and runs a state mahcine for autonomous navigation.
- The Raspberry Pi acts as a webserver, streams live video and runs a basic computer vision algorithm.
- The Arduino sends sensor and status data to the Raspberry Pi over serial (USB cable), which in turn sends this (and video streaming data) to the web page over WiFi.
- User input is sent from the web page to the Raspberry Pi over WiFi, which in turn sends this to the Arduino over serial.