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connected to the Internet via the same subnnet, only the cloud
server will need to have a Public/ Global IP
P Address.
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2015 IEEE International Conference on Control System, Computing and Engineering, 27 - 29 November 2015, Penang, Malaysia
Fig. 4. A4Tech USB webcam used in our project VI. MAJOR SOFTWARE & LANGUAGES USED
The deliverance of smooth movement control and good
quality video capture was a priority in choosing the proper
D. Apacer 4400mAh Mobile Power Bank: software for our project. The list of all the software used in our
project is given below:
To supply power to the Raspberry Pi 2 on-board the mini-
rover, we used a 4400mAh Apacer Mobile Power Bank. A. Raspbian OS:
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2015 IEEE International Conference on Control System, Computing and Engineering, 27 - 29 November 2015, Penang, Malaysia
B. Python:
C. OpenCV:
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2015 IEEE International Conference on Control System, Computing and Engineering, 27 - 29 November 2015, Penang, Malaysia
Provide us with a Black and White video footage of As a RC toy car chassis was used for the mini-rovers
the area at its front. body, in case of muddy or sandy surface, our mini-
It can receive commands from the remote control rover in its current design isnt suitable. However, if a
laptop/pc/android device and move Left/ Right/ Up/ stronger, robust chassis with greater mobility is
Down according to the given commands. designed and used with our mini-rovers concept, then
When connected with the central server via Internet it will be able to handle almost all kinds of terrain quite
(using a USB Wi-Fi dongle connected to the Raspberry well.
Pi 2s USB port and available Wi-Fi network), the
mini-rover can be placed anywhere in the world where Due to its current RC toy car chassis, the mini-rover
Wi-Fi Internet connectivity is available & send/ cant take any extra payload. It can be overcome by
receive data to/ from the remote control platform using the solution described in the previous point.
(which is also connected to the central server via
Internet) . The viewing angle of the USB webcam is fixed. This
can be overcome by mounting the USB webcam on a
The gray-scale image format was chosen because video- tilt and rotation enabled platform (this platform can be
frames in gray-scale format is much faster to stream and constructed using servo motors and other necessary
consumes one-third of the bandwidth required for streaming things).
same video-frames in RGB or any other color format similar
to RGB format. As we used cellular/ mobile network for As there was no Raspberry Pi 2 compatible USB Wi-Fi
connecting our mini-rover to the Internet while connecting to dongle available in the local (Bangladeshi) market (its
the cloud-server, a good amount of bandwidth was saved as a available in the international market), we were
result of using gray-scale image format. compelled to use a 3G Mobile Pocket Router for
providing Wi-Fi connectivity to the Raspberry Pi 2.
And as a direct result of using Internet via cellular data This only limits the Raspberry Pi 2 to connect to the
network, we were able to achieve virtually global operating Internet. The 3G Mobile connection had bandwidth
range for our mini-rover. limitations and at times was intermittent, causing a
problem for continuous motor control and video feed
capturing of our mini-rover. In order to overcome this
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2015 IEEE International Conference on Control System, Computing and Engineering, 27 - 29 November 2015, Penang, Malaysia
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