ESP32 Bluetooth Maze Solver Robot

An automated robotics project that processes a physical or digital maze image using OpenCV, converts it into a grid matrix, sends it wirelessly via Bluetooth Serial to an ESP32 microcontroller, and calculates/executes the optimal path using the A (A-Star) search algorithm*.

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🚀 Project Components

1. Python Vision Script (maze_processor.py):

   • Reads a maze image (maze.png).
   • Converts the image to grayscale, applies Gaussian blur, and maps out a grid matrix (GRID_ROWS x GRID_COLS).
   • Identifies walls (1), open paths (0), the starting point (S), and the goal point (G).
   • Connects to the ESP32 via Bluetooth (using PySerial) and transmits the parsed maze data.

2. ESP32 Firmware (esp32_maze_bot.ino):

   • Runs on an ESP32 microcontroller using the BluetoothSerial library.
   • Dynamically allocates memory to store grid boundaries and obstacles.
   • Implements the A Pathfinding Algorithm* to compute the shortest route from the start node to the goal node.
   • Controls dual DC motors via an L298N (or similar) motor driver to navigate the physical maze.

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🛠️ Hardware Requirements

• ESP32 Development Board
• DC Geared Motors (x2) with Motor Driver (e.g., L298N)
• Power Source / Battery pack for motors and ESP32
• Bluetooth-enabled PC or Laptop (for sending the maze matrix)

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⚙️ Pin Configuration (ESP32)

Component	ESP32 Pin	Description
IN1	GPIO 27	Motor Driver Input 1
IN2	GPIO 26	Motor Driver Input 2
IN3	GPIO 25	Motor Driver Input 3
IN4	GPIO 33	Motor Driver Input 4
ENA	GPIO 14	Motor A Enable (PWM Speed)
ENB	GPIO 32	Motor B Enable (PWM Speed)

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💻 Setup and Usage

1. ESP32 Setup

• Open esp32_maze_bot.ino in the Arduino IDE.
• Install the BluetoothSerial board libraries if needed.
• Select your ESP32 board and COM port, then upload the code to your ESP32.

2. Python Setup

• Install required dependencies via terminal:

  pip install opencv-python numpy pyserial