Firmware for the ESP32 microcontroller| ------------ | ---------------------------------------------------------- | Task | Description | |
|---|---|---|---|---|
| logger | Logs useful information from all modules | |||
| rx | Pool of tasks to service incoming client connections | |||
| tx | Pool of client tasks to connect to a remote server | |||
| navigation | Services wheel control / navigation commands | |||
| detection | Periodically reads from the infrared sensors | |||
| self_test | Executes a self test to check if everything is working | |||
| servo | Controls the servo that is attached to the side camera | |||
| ------------ | ---------------------------------------------------------- |
An application utilizing OpenCV is responsible for analyzing and filtering an image frame to detect the lines of interest. Each image frame is then split into sub-grids. Intersections of all lines are calculated and the sub-grid with the global maximum of intersections is then chosen as location of the vantage point. From this information, the system understands where the path / sidewalk is leading towards and the system can adjust navigation accordingly.