Hand Gesture-Controlled Robotic Car Using ESP32

Project Report

Click here to read the full Project Report (PDF)

Overview

The primary aim of this project is to design and implement a real-time, intuitive control system for a robotic car using hand gestures. Traditional control methods, such as joysticks, are replaced with a wearable gesture-recognition transmitter enabled by the wireless capabilities of the ESP32 microcontroller.

This system utilizes an MPU6050 accelerometer to capture hand-tilt gestures, processed and transmitted via the low-latency ESP-NOW protocol. Additionally, the system features a Hybrid Control Mode, allowing a seamless switch to a web-based Wi-Fi interface for redundancy and safety.

Key Features

• Intuitive Gesture Control: Control the car by tilting your hand (Forward, Backward, Left, Right, Stop).
• Low Latency Communication: Uses the connectionless ESP-NOW protocol for immediate response, bypassing the need for a router.
• Hybrid Web Interface: A backup Wi-Fi Access Point mode allows control via any smartphone browser if the controller is unavailable.
• Safety Mechanisms: Includes deadzone logic to prevent accidental movement and auto-stop functionality if the signal is lost.

Hardware Requirements

Based on the experimental block diagram, the following components are required:

Transmitter Unit (Controller):

• ESP32 Development Board
• MPU6050 Accelerometer/Gyroscope Sensor
• 3.3V Power Source (Battery)
• Push Button (for Mode Locking) & LED

Receiver Unit (Car):

• ESP32 Development Board
• L298N Motor Driver Module
• DC Geared Motors (x2 or x4) & Wheels
• Robot Chassis
• 7-12V Power Supply (Li-ion batteries recommended)

Circuit & Wiring

• MPU6050 to ESP32: VCC -> 3.3V, GND -> GND, SDA -> GPIO 21 (or 33), SCL -> GPIO 22 (or 32).
• L298N to ESP32: IN1, IN2, IN3, IN4 connected to defined digital pins. Enable pins connected to PWM-capable pins.
• Mode Button: Connected to GPIO 5 (Input Pullup).

Software & Libraries

The project is built using the Arduino IDE. You must install the following libraries:

1. Adafruit MPU6050
2. Adafruit Unified Sensor
3. WebSockets (by Markus Sattler)
4. WiFi & esp_now (Built-in ESP32 libraries)

Installation & Usage

1. Setup

1. Clone this repository.
2. Open Car_Receiver.ino and upload it to the Car ESP32.
3. Open Controller_Transmitter.ino and upload it to the Controller ESP32.

2. Operating Modes

The system supports two modes of operation. Use the physical button on the Car to toggle between them.

A. Controller Mode (Default)

• Power on both the Controller and the Car.
• The system automatically pairs via ESP-NOW.
• Control:
  • Tilt Forward/Back -> Move Forward/Reverse.
  • Tilt Left/Right -> Turn Left/Right.
  • Hold Hand Flat -> Stop.

B. Web Mode (Backup)

1. Ensure the Car is powered on.
2. On your phone, turn off Mobile Data.
3. Connect Wi-Fi to SSID: RC_Car with Password: 23571113.
4. Open a browser and navigate to http://192.168.4.1.
5. Use the on-screen sliders and buttons to drive the car.

Contributors

• Course: EEE4103 Microprocessor And Embedded System
• Institution: American International University-Bangladesh
• Semester: Fall 2025-2026
• Group: 08

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Disclaimer: This project was developed for educational purposes as a Capstone Project.