🤖 Autonomous Rover - Computer Vision System

Sistem navigasi autonomous rover dengan line following, ArUco marker detection, dan obstacle avoidance menggunakan OpenCV dan STM32/Arduino integration.

🚀 Quick Start

Jalankan Autonomous Rover

# Compile project
cd build
cmake ..
make autonomous_rover -j$(nproc)

# Run dengan webcam
./autonomous_rover

# Atau gunakan script
cd ..
./scripts/run_rover.sh

# Run dengan custom camera URL
./scripts/run_rover.sh http://192.168.1.100:8080/video

✨ Fitur Utama

🤖 Autonomous Rover System

🔍 Line Following - White & yellow line detection dengan HSV filtering
🎯 ArUco Marker Navigation - Detection, tracking, dan decision making
🚧 Obstacle Detection - Black object detection untuk menghindari halangan
🎨 Boundary Detection - Edge detection untuk mencegah keluar jalur
🔊 Voice Guidance (eSpeak) - Text-to-speech untuk notifikasi realtime
📊 Decision Logging - CSV logging untuk analisis performa
🤝 Robot Integration - Serial communication dengan STM32/Arduino via HC-05 Bluetooth
� Smart Control - Toggle-based command system untuk kontrol robot

🧩 Modular Architecture

Path Planner - A* pathfinding algorithm
Obstacle Detector - Real-time obstacle detection
Robot Bridge - Hardware abstraction layer
Serial Transport - Reliable serial communication
YOLO Detector - Optional YOLOv5 object detection (jika ONNX Runtime tersedia)

🎛️ Configuration System

YAML-based configuration (config/rover_config.yaml)
Runtime parameter tuning
Multiple camera source support (webcam, IP camera, video file)

📖 Dokumentasi

🎯 Rover Integration

ROVER_INTEGRATION.md - Panduan integrasi robot
ROVER_QUICK_START.md - Quick start guide
STM32_INTEGRATION.md - STM32 integration details
STM32_ELECTRICAL_GUIDE.md - Wiring dan setup hardware
PROGRAMMER_NEXT_STEPS.md - Development guide

🛠️ Installation & Setup

Prerequisites

sudo apt-get update
sudo apt-get install -y \
    libopencv-dev \
    libopencv-contrib-dev \
    cmake \
    g++ \
    build-essential \
    espeak \
    libespeak-dev

Note: eSpeak + libespeak-dev diperlukan untuk fitur Text-to-Speech (TTS).

Optional: ONNX Runtime (untuk YOLOv5 Detection)

# Download ONNX Runtime
wget https://github.com/microsoft/onnxruntime/releases/download/v1.16.0/onnxruntime-linux-x64-1.16.0.tgz
tar -xzf onnxruntime-linux-x64-1.16.0.tgz
sudo cp -r onnxruntime-linux-x64-1.16.0/include/* /usr/local/include/
sudo cp -r onnxruntime-linux-x64-1.16.0/lib/* /usr/local/lib/
sudo ldconfig

Compile Project

# Clone repository
git clone https://github.com/irsyad-a/ArUco-Detec-Autonomous.git
cd ArUco-Detec-Autonomous

# Create build directory
mkdir -p build
cd build

# Configure and compile
cmake ..
make autonomous_rover -j$(nproc)

Verify Installation

cd build
ls -lh autonomous_rover
./autonomous_rover --help

Voice Guidance

Saat menjalankan autonomous_rover, Anda akan mendapat prompt:

Aktifkan suara deteksi? [Y/n]:

Tekan Enter atau y untuk mengaktifkan TTS
Masukkan n untuk mode silent

HC-05 Bluetooth Control

Sistem menggunakan metode toggle control:

Karakter w, a, s, d, q, e, g, p akan toggle ON/OFF
Sistem otomatis mematikan perintah lama sebelum aktivasi perintah baru
Instruksi STOP mengirim ulang karakter yang sama

📱 IP Camera Setup

Quick Setup (Android):

Download "IP Webcam" dari Play Store
Buka app → Scroll down → "Start server"
Catat URL (contoh: http://192.168.1.100:8080/video)

Run dengan URL:

./scripts/run_rover.sh http://192.168.1.100:8080/video

Configuration File

Edit config/rover_config.yaml:

camera:
  source: "http://192.168.1.100:8080/video" # IP camera URL
  # source: 0  # or use webcam
  width: 640
  height: 480
  fps: 30

🎮 Usage Examples

Example 1: Run dengan Webcam

./scripts/run_rover.sh
# Atau
cd build
./autonomous_rover

Example 2: Run dengan IP Camera

./scripts/run_rover.sh http://192.168.1.100:8080/video

Example 3: Run dengan Video File

cd build
./autonomous_rover /path/to/video.mp4

Keyboard Controls

Saat program berjalan:

q - Quit/keluar dari program
r - Reset decision state
m - Toggle map window
d - Toggle debug mode
v - Toggle verbose logging
s - Save screenshot
p - Pause/resume

Robot Commands (via Serial/Bluetooth)

Jika terhubung dengan robot via HC-05:

w - Maju (Forward)
s - Mundur (Backward)
a - Belok kiri (Turn Left)
d - Belok kanan (Turn Right)
q - Rotate kiri (Rotate Left)
e - Rotate kanan (Rotate Right)
g - Stop semua motor
p - Pause toggle

🔧 Scripts & Tools

1. Run Rover (`scripts/run_rover.sh`)

Main script untuk compile dan run autonomous rover.

./scripts/run_rover.sh [camera_url]

2. Send Character via Bluetooth (`scripts/send_char.sh`)

Kirim single character command ke robot via serial/bluetooth.

./scripts/send_char.sh w  # Forward
./scripts/send_char.sh s  # Backward

3. Setup Bluetooth (`scripts/setup_bluetooth.sh`)

Setup dan konfigurasi HC-05 Bluetooth module.

./scripts/setup_bluetooth.sh

📊 Project Structure

ArUco-Detec-Autonomous/
│
├── 📁 src/                          # Source code
│   ├── autonomous_rover.cpp         # ⭐ Main autonomous system
│   ├── robot_bridge.{cpp,hpp}       # Robot hardware abstraction
│   ├── serial_transport.{cpp,hpp}   # Serial communication
│   ├── path_planner.{cpp,hpp}       # A* pathfinding
│   ├── obstacle_detector.{cpp,hpp}  # Obstacle detection
│   ├── yolo_detector.{cpp,hpp}      # YOLO object detection
│   └── command_protocol.hpp         # Command definitions
│
├── 📁 build/                        # Compiled binaries
│   ├── autonomous_rover             # ⭐ Main executable
│   ├── autonomous_navigation_log.txt
│   ├── decisions_log.csv
│   └── visited_markers.json
│
├── 📁 config/                       # Configuration files
│   ├── rover_config.yaml            # Main config
│   └── rover_config_examples.yaml   # Example configs
│
├── � docs/                         # Documentation
│   ├── ROVER_INTEGRATION.md         # Integration guide
│   ├── ROVER_QUICK_START.md         # Quick start
│   ├── STM32_INTEGRATION.md         # STM32 guide
│   ├── STM32_ELECTRICAL_GUIDE.md    # Wiring guide
│   └── PROGRAMMER_NEXT_STEPS.md     # Development guide
│
├── � scripts/                      # Utility scripts
│   ├── run_rover.sh                 # ⭐ Main launcher
│   ├── send_char.sh                 # Send BT command
│   └── setup_bluetooth.sh           # BT setup
│
├── � firmware/                     # Robot firmware
│   ├── stm32/                       # STM32 code
│   └── arduino/                     # Arduino code
│
├── 📖 README.md                     # This file
└── 📄 CMakeLists.txt                # Build configuration

🎯 Development Workflow

For First-Time Users:

Clone & Build

git clone https://github.com/irsyad-a/ArUco-Detec-Autonomous.git
cd ArUco-Detec-Autonomous
mkdir build && cd build
cmake ..
make autonomous_rover -j$(nproc)

Test dengan Webcam
```
./autonomous_rover
```

Configure untuk Robot

# Edit config/rover_config.yaml
# Setup Bluetooth (jika menggunakan HC-05)
../scripts/setup_bluetooth.sh

Read Documentation
- docs/ROVER_QUICK_START.md - Quick start guide
- docs/ROVER_INTEGRATION.md - Integration details
- docs/STM32_INTEGRATION.md - Hardware integration

For Developers:

Understand Architecture:
- src/autonomous_rover.cpp - Main state machine & logic
- src/robot_bridge.cpp - Hardware abstraction layer
- src/path_planner.cpp - A* pathfinding algorithm
- src/obstacle_detector.cpp - Obstacle detection module

Modify Parameters:

# Edit config/rover_config.yaml
line_following:
  white_line:
    h_min: 0
    s_min: 0
    v_min: 200

Build & Test:

cd build
make autonomous_rover -j$(nproc)
./autonomous_rover

Debug:

# Enable verbose logging
./autonomous_rover --verbose

# Check logs
tail -f autonomous_navigation_log.txt

🐛 Troubleshooting

Issue: Camera tidak terbuka

Solution:

# 1. Check camera device
ls -l /dev/video*

# 2. Test dengan v4l2
v4l2-ctl --list-devices

# 3. Try different camera index
./autonomous_rover 0  # atau 1, 2, dst

Issue: IP Camera tidak connect

Solution:

# 1. Check network connectivity
ping <IP_CAMERA>

# 2. Test di browser
firefox http://<IP>:8080/video

# 3. Try alternative URL
./autonomous_rover http://<IP>:8080/videofeed

Issue: Line tidak terdeteksi

Solution:

Sesuaikan HSV threshold di config/rover_config.yaml
Pastikan pencahayaan cukup terang dan merata
Test dengan debug mode: ./autonomous_rover --debug
Check HSV values: Window "HSV Adjustments"

Issue: Compile error

Solution:

# Install all dependencies
sudo apt-get install -y libopencv-dev libopencv-contrib-dev \
    cmake g++ build-essential espeak libespeak-dev

# Clean rebuild
cd build
rm -rf *
cmake ..
make autonomous_rover -j$(nproc)

Issue: Bluetooth tidak connect

Solution:

# 1. Check bluetooth device
ls -l /dev/rfcomm*

# 2. Pair HC-05
./scripts/setup_bluetooth.sh

# 3. Test connection
./scripts/send_char.sh w

Issue: Robot tidak merespon command

Solution:

Check serial port di config/rover_config.yaml
Verify baud rate (default: 9600)
Test dengan ./scripts/send_char.sh
Check firmware di robot (STM32/Arduino)

💡 Tips & Best Practices

Hardware Setup:

✅ Gunakan power supply yang stabil untuk robot
✅ Pastikan HC-05 terpasang dengan benar (TX->RX, RX->TX)
✅ Ground semua komponen ke common ground
✅ Test koneksi serial sebelum integration

Line Following:

🎯 Gunakan tape berwarna putih/kuning dengan kontras tinggi
📏 Lebar garis minimal 2-3 cm
💡 Pencahayaan merata, hindari shadow
� Background gelap untuk white line, terang untuk yellow line

ArUco Markers:

📐 Print marker minimal 5x5 cm
🖨️ Quality printing (hitam pekat, putih bersih)
📏 Jarak deteksi optimal: 20-100 cm
� Pastikan marker flat (tidak terlipat)

Development:

🔧 Use configuration file untuk parameter tuning
📝 Enable logging untuk debugging
💾 Commit changes incrementally
🧪 Test di simulator sebelum real robot
📊 Monitor decision logs untuk analisis performa

🎓 Learning Resources

Internal Documentation:

docs/ROVER_INTEGRATION.md - Complete integration guide
docs/ROVER_QUICK_START.md - Quick start guide
docs/STM32_INTEGRATION.md - STM32 programming guide
docs/STM32_ELECTRICAL_GUIDE.md - Wiring & hardware
docs/PROGRAMMER_NEXT_STEPS.md - Development guide

External Resources:

Algorithms:

A* Pathfinding: Path planning untuk navigasi
HSV Color Filtering: Line detection
Contour Detection: Obstacle & boundary detection
ArUco Detection: Marker-based localization

🚀 Features & Roadmap

✅ Implemented Features:

🔄 Planned Improvements:

SLAM (Simultaneous Localization and Mapping)
Advanced obstacle avoidance with sensor fusion
Multi-robot coordination
Web dashboard untuk monitoring
Mobile app remote control
Machine learning untuk decision making
GPS integration untuk outdoor navigation
ROS2 integration

👨‍💻 Technical Details

Repository: irsyad-a/ArUco-Detec-Autonomous
Version: 3.0.0
Last Updated: November 15, 2025

Core Technologies:

OpenCV 4.x - Computer vision library
C++17 - Main programming language
CMake 3.0+ - Build system
eSpeak - Text-to-speech engine
YAML-CPP - Configuration parsing
ONNX Runtime (Optional) - YOLOv5 inference

Hardware Support:

STM32 - Microcontroller platform
Arduino - Alternative microcontroller
HC-05 - Bluetooth communication module
Camera - Webcam, IP camera, or video file

Platform:

Linux (Ubuntu/Debian)
Tested on: Ubuntu 22.04 LTS

🙏 Acknowledgments

Libraries & Tools:

OpenCV - Computer vision foundation
ArUco - Fiducial marker system
eSpeak - Open source TTS engine
ONNX Runtime - ML inference engine

Resources:

OpenCV documentation & tutorials
ArUco research papers
STM32 HAL libraries
Community contributions

📄 License

MIT License - Free to use for educational and commercial purposes.

See LICENSE file for details.

📞 Support & Issues

Need Help?

✅ Check docs/ROVER_QUICK_START.md
✅ Read docs/ROVER_INTEGRATION.md
✅ Look at Troubleshooting section above
✅ Check log files: build/autonomous_navigation_log.txt

Found a Bug?

Open an issue on GitHub: Issues
Include log files and error messages
Describe steps to reproduce

Want to Contribute?

Fork the repository
Create feature branch
Submit pull request
Follow coding standards

🎊 Quick Start Summary

Get Started in 3 Steps:

# 1. Clone & Build
git clone https://github.com/irsyad-a/ArUco-Detec-Autonomous.git
cd ArUco-Detec-Autonomous
./scripts/run_rover.sh

# 2. Configure (optional)
nano config/rover_config.yaml

# 3. Run!
./scripts/run_rover.sh

With IP Camera:

# Setup IP Webcam app on Android
./scripts/run_rover.sh http://192.168.1.100:8080/video

Integration dengan Robot:

# Setup Bluetooth
./scripts/setup_bluetooth.sh

# Test command
./scripts/send_char.sh w

# Run autonomous
./scripts/run_rover.sh

🌟 Key Features Highlight

🤖 Autonomous Navigation

Line Following dengan white/yellow line detection
ArUco Markers untuk waypoint navigation
Obstacle Avoidance dengan real-time detection
Smart Decision Making dengan state machine

🔧 Flexible Integration

Multiple Camera Sources - Webcam, IP camera, video file
Serial/Bluetooth Support - HC-05 integration ready
YAML Configuration - Easy parameter tuning
Modular Architecture - Easy to extend

📊 Monitoring & Debug

Real-time Logging - CSV decision logs
Voice Feedback - eSpeak TTS notifications
Debug Windows - HSV tuning, contour display
Performance Metrics - FPS, decision timing

🎯 Command Reference

# Build & Run
./scripts/run_rover.sh                    # ⭐ Main launcher
./scripts/run_rover.sh <camera_url>       # With IP camera

# Build Only
cd build
cmake ..                                  # Configure
make autonomous_rover -j$(nproc)          # Compile

# Direct Run
cd build
./autonomous_rover                        # Default camera
./autonomous_rover 0                      # Webcam
./autonomous_rover /path/to/video.mp4     # Video file
./autonomous_rover <camera_url>           # IP camera

# Bluetooth/Serial
./scripts/setup_bluetooth.sh              # Setup HC-05
./scripts/send_char.sh <command>          # Send command (w/a/s/d)

# Configuration
nano config/rover_config.yaml             # Edit config
cp config/rover_config_examples.yaml config/rover_config.yaml

📚 Documentation Index

Document	Description
README.md	Main documentation (this file)
docs/ROVER_INTEGRATION.md	Complete integration guide
docs/ROVER_QUICK_START.md	Quick start guide
docs/STM32_INTEGRATION.md	STM32 programming & setup
docs/STM32_ELECTRICAL_GUIDE.md	Wiring & electrical setup
docs/PROGRAMMER_NEXT_STEPS.md	Development guide

🎉 Ready to Start!

Autonomous Rover System

Line Following • ArUco Navigation • Obstacle Avoidance

Quick Start

git clone https://github.com/irsyad-a/ArUco-Detec-Autonomous.git
cd ArUco-Detec-Autonomous
./scripts/run_rover.sh

Made with ❤️ using OpenCV & C++

Last Updated: November 15, 2025 | Version 3.0.0

Name		Name	Last commit message	Last commit date
.vscode		.vscode
aruco_markers		aruco_markers
autonomous_system		autonomous_system
build		build
config		config
docs		docs
firmware		firmware
scripts		scripts
src		src
ARUCO_COMPLETE_GUIDE.md		ARUCO_COMPLETE_GUIDE.md
ARUCO_QUICK_START.md		ARUCO_QUICK_START.md
CMakeLists.txt		CMakeLists.txt
LOGGING_FEATURE.md		LOGGING_FEATURE.md
README.md		README.md
README_ARUCO.md		README_ARUCO.md
README_FACE_BLUR.md		README_FACE_BLUR.md
aruco_menu.sh		aruco_menu.sh
generate_aruco.py		generate_aruco.py
run_aruco.sh		run_aruco.sh
start_autonomous.sh		start_autonomous.sh
view_log.py		view_log.py

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🤖 Autonomous Rover - Computer Vision System

🚀 Quick Start

Jalankan Autonomous Rover

✨ Fitur Utama

🤖 Autonomous Rover System

🧩 Modular Architecture

🎛️ Configuration System

📖 Dokumentasi

🎯 Rover Integration

🛠️ Installation & Setup

Prerequisites

Optional: ONNX Runtime (untuk YOLOv5 Detection)

Compile Project

Verify Installation

Voice Guidance

HC-05 Bluetooth Control

📱 IP Camera Setup

Quick Setup (Android):

Configuration File

🎮 Usage Examples

Example 1: Run dengan Webcam

Example 2: Run dengan IP Camera

Example 3: Run dengan Video File

Keyboard Controls

Robot Commands (via Serial/Bluetooth)

🔧 Scripts & Tools

1. Run Rover (scripts/run_rover.sh)

2. Send Character via Bluetooth (scripts/send_char.sh)

3. Setup Bluetooth (scripts/setup_bluetooth.sh)

📊 Project Structure

🎯 Development Workflow

For First-Time Users:

For Developers:

🐛 Troubleshooting

Issue: Camera tidak terbuka

Issue: IP Camera tidak connect

Issue: Line tidak terdeteksi

Issue: Compile error

Issue: Bluetooth tidak connect

Issue: Robot tidak merespon command

💡 Tips & Best Practices

Hardware Setup:

Line Following:

ArUco Markers:

Development:

🎓 Learning Resources

Internal Documentation:

External Resources:

Algorithms:

🚀 Features & Roadmap

✅ Implemented Features:

🔄 Planned Improvements:

👨‍💻 Technical Details

🙏 Acknowledgments

📄 License

📞 Support & Issues

🎊 Quick Start Summary

Get Started in 3 Steps:

With IP Camera:

Integration dengan Robot:

🌟 Key Features Highlight

🤖 Autonomous Navigation

🔧 Flexible Integration

📊 Monitoring & Debug

🎯 Command Reference

📚 Documentation Index

🎉 Ready to Start!

Quick Start

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1. Run Rover (`scripts/run_rover.sh`)

2. Send Character via Bluetooth (`scripts/send_char.sh`)

3. Setup Bluetooth (`scripts/setup_bluetooth.sh`)