XIAO ESP32-S3 Sense YOLO11 Obstacle Avoidance

This project implements an obstacle avoidance system using a XIAO ESP32-S3 Sense and YOLO11.

Hardware Setup

• Board: XIAO ESP32-S3 Sense
• Camera: OV2640 (connected to board)
• Mic: I2S Digital Mic (MSM261D3526H1CPM)
• IMU: ICM42688P (I2C)

Pinout Configuration

• Camera: Standard XIAO ESP32S3 Sense pinout.
• I2C IMU: SDA (D4), SCL (D5).
• I2S Mic (PDM Mode): CLK (GPIO 42), DAT (GPIO 41).

Software Setup (Windows)

This project uses uv for dependency management.

1. Install uv:

   • Open PowerShell.
   • Run: powershell -c "irm https://astral.sh/uv/install.ps1 | iex"

2. Clone the Repository:

   • git clone <your-repo-url>
   • cd <repo-folder>

3. Run the Application:

   • First, ensure your ESP32 is running and you know its IP address (check the Serial Monitor).
   • Run the Python script with the stream URL:

     uv run main.py --url http://<ESP32_IP>/stream

     Example: uv run main.py --url http://192.168.1.123/stream

Firmware

The firmware is located in the firmware/ directory.

1. Open firmware/main/main.ino in Arduino IDE.
2. Install ESP32 board support.
3. Select Board: "XIAO_ESP32S3" (or similar).
4. Enable PSRAM: "OPI PSRAM".
5. Upload.
6. Open Serial Monitor (115200 baud) to view the IP address.