CV Robot Navigation

Autonomous robot navigation using Computer Vision.

Arduino

Wiring

Pinout

Arduino Wifi Rev 2 is used with the Adafruit motor shield for motor and servo control:

Adafruit_MotorShield AFMS = Adafruit_MotorShield(); 

The pintout for Arduino can ba changed in arduino/Bin.ino:

const int led_abr = 2;
myservo.attach(9);       // attaches the servo on pin 9 to the servo object

Servo 2 on the Adafruit sheld corresponds to pin 9 on the Arduino.

Wifi

The network SSID name and network password need to be specified in arduino/Bin.ino for HTTP requests:

char ssid[] = SECRET_SSID;        // your network SSID (name)
char pass[] = SECRET_PASS;        // your network password (use for WPA, or use as key for WEP)
int keyIndex = 0;                 // your network key Index number (needed only for WEP)

Robot

Claw

The claw mechanism consists of an electric motor for opening and closing of the claw and a servo for the upward and downward motion.

Sensors

An Infrared receiver is used for victim health detection and two Optoswitches are used for line-following.

Python

Dependencies

Install requests from PyPI:

sudo pip install requests

Install OpenCV from GitHub source.

Demo

Video demo of the robot can be found on Youtube channel.

Rescue task