Position Regulation System with Camera and Microcontroller ESP32

Abstract

This paper presents the development of a system for regulating the position of a linear actuator. The system consists of an ESP32 microcontroller that performs PID (proportional-integral-derivative controller) control with a self-adjusting PID, a PC that works with image processing using the OpenCV library and calculates the position of the actuator, as well as bluetooth communication between the microcontroller and the PC. For this purpose, a Windows Forms application was developed, that allows access to the parameters for testing and graphic presentation of the system response.