🤖 DDMR-VFH-Collision-Avoidance

-Path.Following.2.mp4

The autonomous robot navigation system uses Vector Field Histogram (VFH) for obstacle avoidance and ArUco marker tracking for goal-seeking navigation.

📋 Features

• ✅ VFH Obstacle Avoidance: Detect and avoid obstacles in real time
• ✅ ArUco Marker Tracking: Track and approach ArUco markers as targets
• ✅ Hybrid Decision Logic: Smart priority-based decision making
• ✅ Modular Architecture: Clean, maintainable, and extensible code
• ✅ Real-time Visualization: Point cloud + ArUco overlay + status display
• ✅ Arduino Integration: Serial communication for motor control

🏗️ Arsitektur Sistem

┌─────────────────────────────────────────┐
│         MAIN CONTROLLER                 │
│      (Decision Logic)                   │
└───────────┬─────────────────────────────┘
            │
    ┌───────┴───────┬──────────┬──────────┐
    │               │          │          │
    ▼               ▼          ▼          ▼
┌────────┐   ┌──────────┐ ┌────────┐ ┌────────┐
│ Kinect │   │  ArUco   │ │Arduino │ │ Config │
│  VFH   │   │ Tracker  │ │  Comm  │ │Settings│
└────────┘   └──────────┘ └────────┘ └────────┘

🎯 Operation Mode

1. VFH_ACTIVE (Priority 1)

• Trigger: Obstacle detected in one of the sectors
• Behavior: Avoid the obstacle by turning left/right
• Priority: Highest (Safety First!)

2. ARUCO_TRACKING (Priority 2)

• Trigger: Path clear + ArUco marker detected
• Behavior: Follow marker (left/center/right zone)
• Priority: Medium (Goal Seeking)

3. SEARCH (Priority 3)

• Trigger: Path clear + No ArUco detected
• Behavior: Stop or rotate (configurable)
• Priority: Lowest (Default State)

📦 Instalasi

1. Requirements

# Hardware
- Kinect v1 sensor (Xbox 360 Kinect)
- Arduino Uno dengan motor driver
- 2 DC motors

# Software
- Python 3.8+
- OpenNI2 drivers
- Arduino IDE

2. Install Dependencies

cd robot_navigation_mvc
pip install -r requirements.txt

3. OpenNI2 Setup

Download and install the OpenNI2 SDK from:

• Windows: https://structure.io/openni
• Linux: sudo apt-get install libopenni2-dev

Test Individual Modules

# Test Arduino communication
python tests/test_arduino_comm.py

# Test VFH only
python tests/test_vfh_only.py

# Test ArUco tracking only
python tests/test_aruco_only.py

Run Full System

python main.py

⌨️ Keyboard Controls

Main System

• Q: Quit program
• 1: VFH Only mode (disable ArUco)
• 2: ArUco Only mode (disable VFH)
• 3: Hybrid mode (default)
• Space: Emergency stop

VFH Test

• A/D: Rotate view left/right
• W/S: Zoom in/out
• Q: Quit

⚙️ Configuration

Edit config/settings.py untuk tuning parameters:

# VFH Settings
VFH_THRESHOLD_DISTANCE = 1.0  # meter
VFH_TURN_DURATION = 0.2       # seconds
VFH_FORWARD_DURATION = 0.4    # seconds

# ArUco Settings
ARUCO_DICT_TYPE = 'DICT_5X5_1000'
ARUCO_APPROACH_DISTANCE = 0.5  # meter

# Arduino Settings
ARDUINO_PORT = 'COM5' 

📊 Decision Logic

IF obstacle_detected:
    MODE = VFH_ACTIVE
    COMMAND = vfh_command
    
ELIF aruco_detected AND path_clear:
    IF distance < approach_distance:
        MODE = ARUCO_REACHED
        COMMAND = STOP
    ELSE:
        MODE = ARUCO_TRACKING
        COMMAND = aruco_command
        
ELSE:
    MODE = SEARCH
    COMMAND = STOP

🧪 Test Scenarios

Scenario 1: VFH Obstacle Avoidance

1. Run the system without ArUco markers
2. Place an obstacle on the front sensor
3. Verify: The robot turns left/right to avoid obstacles

Scenario 2: ArUco Tracking

1. Ensure the path is clear (no obstacles)
2. Show the ArUco marker to the camera
3. Verify: The robot turns to face the marker
4. Verify: The robot advances when the marker is centered

Scenario 3: Hybrid Navigation

1. Show the ArUco marker + place an obstacle
2. Verify: VFH takes priority (avoid obstacles first)
3. Remove the obstacle
4. Verify: Continue ArUco tracking

📁 File Structure

robot_navigation_mvc/
├── main.py                      # Main controller
├── requirements.txt             # Dependencies
├── README.md                    # Documentation
│
├── config/
│   ├── __init__.py
│   └── settings.py             # Configuration parameters
│
├── modules/
│   ├── __init__.py
│   ├── kinect_vfh.py          # VFH navigation module
│   ├── aruco_tracker.py       # ArUco tracking module
│   └── arduino_comm.py        # Arduino communication
│
├── utils/
│   ├── __init__.py
│   └── logger.py              # Logging utility
│
└── tests/
    ├── test_arduino_comm.py   # Test Arduino
    ├── test_vfh_only.py       # Test VFH only
    └── test_aruco_only.py     # Test ArUco only

🐛 Troubleshooting

Kinect not detected

# Check OpenNI2 installation
# Windows: Check Device Manager
# Linux: lsusb | grep Kinect

Arduino not connected

# Check COM port in Device Manager
# Edit config/settings.py: ARDUINO_PORT = 'COM_YOUR_PORT'
# Test: python tests/test_arduino_comm.py

ArUco not detected

• Ensure sufficient lighting
• Print markers at least 10cm x 10cm
• Use high-contrast print (black and white)
• Check dictionary type: DICT_5X5_1000

VFH always detects obstacles

• Tune threshold: VFH_THRESHOLD_DISTANCE in settings.py
• Check Kinect depth data is valid (not all zeros)

📝 Logs

System save in folder logs/:

logs/robot_nav_YYYYMMDD_HHMMSS.log