System Architecture

1. Hardware Setup

The demo system is composed of 4 Lamppost Node and 1 Auto-car node.

1.1: Each lamppost node contains:

• 1 x Host Machine (5512)
• 1 x Raspberry PI (equipped with 2 x ZigBee CC2520 communication module)
• 2 x Camera (accessible via RTSP video stream)

The detailed configuration is shown in the following figure:

1.2: The auto-car node contains:

• 1 x Raspberry PI (equipped with 2 x ZigBee CC2520 communication module)
• 1 x Laptop / Computer (use for route planning and movement control, etc.)

---

2. Software Architecture

The entire system consists of 3 sub-programs:

• Lamppost Host Program (runs on the root node and slave node)
• Lamppost Hook Program (runs on RaspberryPI of the root node)
• Control Program (runs on the auto-car node)

The interactive behaviour of each module is illustrated in the diagram below.