The implementation of a gesture-controlled robotic vehicle powered by the PIC16F877A microcontroller with two control modes:
- Manual Bluetooth-Based Control Enabling users to operate the vehicle via a smartphone connected to HC-06 Bluetooth module.
- Gesture-Based Control Gesture recognition is achieved through a GY-61 DXL335 accelerometer sensor embedded in a glove.
The design allows for a robust motor control with DC Motors controlled with an H-Bridge Circuit through PWM control and Two-Wheel Drive System powered by 3.7V lithium-ion batteries.
Furthermore, it uses Infrared Sensors and Servo Motor to automatically adjust the angles of the compartment. It also uses Ultrasonic Sensors to detect onstacles within a safe range and provides two different thresholds indicated using LEDs and a Vibration Motor.
The system uses interrupts to efficiently handle time-sensitive events, such as sonar readings and servo motor control with dual-positioning logic controlled by flags. It also uses Timer0-based delays for task scheduling.
Parallel/Autonomous Mode uses the accelerometer for movement based on tilt detection (X and Y axis Value) via ADC and Serial/Remote Control Mode recieves commands ('F', 'B', 'R', 'L') via Bluetooth. The switching of the modes is handled by a hardware interrupt triggered by PORTD.
Timer1 is used to calculate distance based on echo pulse width with a 40cm warning threshold triggering LEDs and a 10cm critical threshold triggering the vibration motor.
The current system implements both serial and parallel modes for controlling movement and interaction with sensors. A promising future enhancement involves integrating both modes into a unified, remote gesture-controlled system using two PIC microcontrollers and two Bluetooth modules.
- Qabas Ahmad
- Omar Hasan
- Lujain Hamdan