IOT-Robot-Chaser

Project Overview

This project, 236333 - IoT Robot Chaser, focuses on developing a robot that can chase a moving target using IoT technologies.

Progress

Unit Tests

• Servo Motor: Input an angle via the serial monitor and verify correct rotation.
• L298N (Rear TT Motors): Input speed and direction for each motor via the serial monitor and verify correctness.

Robot Components

• WiFi Connection:

  • The robot tries to connect to a stored nearby WiFi network.
  • If no network is found, it creates an AP "ESP32_AP" with an HTTP page that includes a WiFi manager interface.
  • The interface allows users to enter WiFi credentials, view hardware details, and update firmware.
  • Upon saving the credentials, they are stored in the ESP32’s NVS, and the robot attempts to connect to the network.

• HTTP Server:

  • After connecting to WiFi, the robot creates an HTTP server.
  • The server accepts commands for rear TT motors to drive at a certain speed and direction ('B' or 'F').
  • It also accepts commands for the servo motor angle, which controls the steering of the front wheels.

Lab Components

1. Data Reception and Conversion:

   • A script receives the robot's and the target's data (coordinates and rotation) from the Motive/OptiTrack system.
   • Converts angles from quaternions to Euler angles.
   • Converts the axis system to Z-up to match the initial orientation of the robot and target.

2. HTTP Command Script:

   • A script to send HTTP commands to the robot.

3. Pure Pursuit Algorithm:

   • Implements the pure pursuit algorithm for tracking a moving target.
   • Includes mechanisms for smoother tracking and a simulation to visualize and refine the robot's movement logic.

4. Integration:

   • Combined the scripts to receive coordinates from the OptiTrack system, calculate the robot's motion using the pure pursuit algorithm, and send motion requests to the robot.

Edge Cases

• The robot attempts to reconnect to WiFi whenever the connection is lost.
• During reconnection attempts, the LED blinks, and the robot does not move.
• The robot operator notifies in case the robot is not responding or not connected.
• Notification by the robot operator when the optitrack system is down or not streaming.
• Notification by the robot operator whenever the robot is going outside the board's limit.

Current Issues

(List any known issues or problems here)

Robot edge cases leds

• RED led: If the car not connected to wifi at the beginning.
• RED led(blink): after the connection if there are issue with the wifi connection.
• BLUE led: If the target or the chaser is out of board.
• GREEN led: If the operator does not get the Optitrack streaming.

TODO

• Response/Delay time improvements suggestions:

  • add stack or LIFO array to store last command and each time perform only the latest command.
  • and/or convert robot server from http to WS.

• Testing and Adjustment:

  • Observe the robot's actual motion and make necessary adjustments or add mechanisms for improvement.
  • Multi target tracking.
  • BMI160 sensor.