Embedded-Systems-Project

This repository contains a project of Autonoumous Obstacle avoidance Bot. In this project we have used AWS IoT Greengrass service for localization of the object and the target.

System Design

Task 1 : Setting up AWS Greengrass Group

• Configure a Greengrass Core.
• Publish sensor data using an AWS Greengrass device
• Receive sensor data to the second Greengrass device

Task 2 : Implement target detection

• Implementing a bot that finds targets randomly distributed in the scene with obstacles.
• Read the 3-Channel wide ToF distance sensor data.
• Detect the target and virutal boundary via camera module of the Localization system.

Task 3 : Setup the communication system

• Setup the communication system between the ESP32 board on the bot to the AWS IoT endpoint using Greengrass Device certificates.
• Create a AWS endpoint and setup a publisher and subscriber node.

Task 4 : Final behavior implementation

• Develop a scheduler using FreeRTOS to receive the data from the distance sensor and camera.
• The goal is to reach the targets placed in different scenes avoiding the obstaceles.
• This is done by localization system having camera module publishing the movement of the bot in scene and bot subscribering the same end-point and calculating the path to reach the target coordinates.