Autonomous Target Detection & Bluetooth-Controlled Robotic Rover

Hardware Setup

Figure: Arduino-based robotic rover with Bluetooth control and target detection system

Demo Video

Overview

This project implements a hybrid robotic system that combines Bluetooth-based manual control with autonomous target detection and engagement. The system integrates mobility, sensing, and actuation into a unified embedded platform.

System Architecture

Mobility (Bluetooth Control) → Arduino → Motor Driver → Movement Ultrasonic Sensor + Servo → Radar Scanning → Target Detection Target Detection → Angle Calculation → Servo Aiming → Firing Mechanism

Key Features

Bluetooth-controlled rover movement (forward, backward, left, right, stop)
Radar-style scanning using ultrasonic sensor mounted on a servo
Real-time distance measurement using ultrasonic sensing
Autonomous target detection within threshold distance (< 30 cm)
Angle calculation using trigonometric functions (atan2, sin, cos)
Servo-based aiming and firing mechanism
Manual override for firing via Bluetooth command
Buzzer/LED alert system before firing
Integration of multiple embedded subsystems

Components Used

Arduino Uno
Motor Driver Module
HC-05 Bluetooth Module
DC Motors (4WD chassis)
Ultrasonic Sensor (HC-SR04)
Servo Motors (Radar, Aim, Fire)
Battery Pack
Buzzer / LED indicator

Circuit Diagram — Rover Drive System

Circuit Diagram — Targeting & Launcher System

How It Works

Rover is controlled via Bluetooth commands (F, B, L, R, S)
Ultrasonic sensor scans the environment using servo rotation
Distance to objects is continuously measured
Target detected when object is within threshold (< 30 cm)
Angle is calculated using trigonometric relationships
Gun servo aligns toward detected target
Alert signal is triggered
Firing servo activates launcher mechanism
Manual override allows direct firing

Technical Highlights

Angle-based targeting using trigonometric functions (atan2, cos, sin)
Real-time sensor data processing
Multi-servo coordinated control system
Hybrid control architecture (manual + semi-autonomous operation)
Event-driven embedded system design

Project Structure

autonomous-target-rover/
│
├── code/
│   ├── rover_control/
│   │   └── rover.ino
│   │
│   ├── targeting_system/
│   │   └── targeting.ino
│
├── images/
│   ├── rover.jpg
│   ├── circuit_rover.png
│   ├── circuit_launcher.png
│
├── docs/
│   └── project_details.md
│
├── README.md

Limitations

Requires Bluetooth activation (not fully autonomous)
Accuracy limited by ultrasonic sensor precision
Mechanical targeting depends on hardware alignment

Future Improvements

Full autonomous navigation
Camera-based object detection
Improved targeting accuracy
Wireless IoT-based control system
Safety and precision enhancements

Learning Outcomes

Embedded system design and integration
Robotics and motor control
Sensor interfacing and real-time processing
Hybrid control systems