🚗 Lane Following Bot with ArUco Tag Detection using Camera

A vision-based autonomous mobile robot capable of following a red lane and detecting ArUco tags using a USB camera.
The system combines embedded motor control with computer vision for intelligent navigation.

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📌 Project Overview

This project demonstrates a hybrid robotics architecture where:

• Raspberry Pi performs vision processing
• Arduino Nano handles motor control
• USB Camera detects:
  • Red lane for navigation
  • ArUco tags for identification / decision making

The robot follows a predefined red path and reacts based on visual tag inputs.

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⚙️ Hardware Used

• Arduino Nano
• Raspberry Pi
• L298D Motor Driver
• USB Camera
• DC Motors
• Robot Chassis
• Battery Pack

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🧠 System Architecture

Component	Function
Raspberry Pi	Image processing & decision making
USB Camera	Lane & ArUco detection
Arduino Nano	Motor control
L298D Driver	Drives DC motors
OpenCV	Image processing
ArUco Library	Marker detection

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🧠 Connection Diagram

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🚦 Features

• Red Lane Detection using Computer Vision
• Autonomous Path Following
• ArUco Tag Detection
• Real-time Motor Control
• Raspberry Pi → Arduino Serial Communication

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🔍 Working Principle

1. USB camera captures real-time video
2. Raspberry Pi detects:
   • Red colored lane
   • ArUco markers
3. Based on lane position:
   • Left / Right correction is calculated
4. Commands sent to Arduino Nano
5. Arduino controls motors using L298D

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🛠️ Software Used

• Python (OpenCV)
• Arduino IDE
• Serial Communication
• ArUco Detection Library

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📦 Output

• Robot follows red lane autonomously
• Detects ArUco tags in real time
• Adjusts movement based on lane position

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🚀 Applications

• Autonomous navigation
• Smart warehouse robots
• Educational robotics
• Vision-based AGVs

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👨‍💻 Author

Pulkit Garg
Robotics Facilitator | Autonomous Systems Enthusiast