Car automation is a hot topic this days. The police will need automated police car to Identify, follow and stop suspected car.

What it does

We are building a smart tracking rover and following system that can identify an object based on image using Augmented Reality, track its motion, and follow it with similar speed and fixed distance. The system uses smartphone camera to identify the object, Augmented Reality to identify the object as well as its direction and distance.

How we built it

The system is using the Augmented Reality library (Vuforia) to identify the suspected object, a 3D engine (Unity3D) to calculate direction and distance from the tracker rover and the suspected vehicle. The information are transferred between intel Arduino 101 and the Android device through Bluetooth Low Energy. The Arduino 101 send the accelerometer and gyroscope information and receive the relative coordinates and the distance between the 2 rovers. It control the two motors to follow the suspected rover at a certain distance. If the Tracker rover is not in the following mode, it will search for a suspected vehicle.

Challenges we ran into

The motor shield we used was not compatible with Arduino 101 but with Arduino Uno, different PWM pin numbers. That kept the Rover at high speed all the time which was not suitable for the project. There was no time for us to order a different motors shield. So we solved the problem using software code (Bit banging).

Accomplishments that we're proud of

Connecting all the different parts of the project together on both software and hardware level.

What we learned

Developing unity android plugin to communicate with Arduino 101 via Bluetooth. Achieving PWM using software only.



  • Arduino101 /Genuino 101 + grove kit.
  • LCD Display
  • LEDs
  • L298 motor driver
  • Lithium battery charging board.
  • 18650 Lithium batteries and battery holder.
  • Android smartphone.
  • Robot mechanics: 3 wheels 2 motors (with gearbox). Plate to install board, components. Smartphone holder installed on the plate.


  • Arduino software + install Intel Curie library v 2.0.2
  • Vuforia AR for Unity.
  • Bluetooth library for Android under Unity.

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