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.
2. Repeat 1. three times at different positions.
3. Calculte APs' relative positions.
4. 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.
2. 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 due to lack of time