- 1. Team
- 2. Project Overview
- 3. Project Goal
- 4. System Design
- 5. Key Features
- 6. Technical Challenges
- 7. Limitations & Scalability
- 8. Tech Stack
📄 Korean version:
README.ko.md
🧑💼 Jinhyuk Jang @jinhyuk2me
- Designed and implemented the main server
- Designed and developed the GUI
- Authored the overall system architecture
- Defined the communication interfaces
- Built and managed the database
🧑💼 Daein Kim @Daeinism
- Project lead for DUST
- Designed and built the resource distributor hardware/firmware
- Designed and built the gate module hardware/firmware
🧑💼 Geonwoo Lee @DigitalNomad230
- Reviewed and maintained technical documentation
- Built the resource storage hardware/firmware
- Implemented logic that links container capacity with facility operation
🧑💼 Seunghoon Lee @leesh0806
- Developed the AGV module and mechanical structure
- Designed AGV circuitry
- Implemented the line-tracing control algorithm
- Built FSM-based driving control
- Implemented the AGV TCP communication protocol
⏰ Period: 3 May – 15 May 2025
DUST (Dynamic Unified Smart Transport) is an IoT-based transportation control platform that lets an RFID-guided AGV coordinate with logistics facilities—gates, conveyors, loading/stocking stations—in real time through a unified control loop.
Industrial sites increasingly need AGVs (Automated Guided Vehicles) that can autonomously follow fixed routes and interact with multiple facilities (gates, belts, storage bays). This project integrates every step of that logistics scenario into a single control surface driven by an AGV-centric workflow.
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| 🔁 Autonomous Driving | ESP32-controlled driving along the RFID-tag path |
| 📡 Position Reporting | Reads RFID tags → determines position → reports to the server |
| 🔋 Battery Monitoring | Periodically publishes remaining battery and FSM state |
| 📦 Mission Execution | Receives missions → triggers FSM transitions → performs auto loading/unloading |
| 🛑 Collision Avoidance | Stops via ultrasonic sensor when an obstacle is detected |
| Facility | Sample Image | Description |
|---|---|---|
| 🚪 Gate Control |  |
- Opens automatically for registered AGVs - Blocks unregistered AGVs |
| 📦 Loader Control | |
- Automatic drop-off once the AGV arrives |
| 🌀 Belt / Storage Control |  |
- Start/stop belts via server commands or conditional triggers - Detect storage saturation via sensors - Auto-select container A/B based on remaining space - Safety interlock blocks belt motion when full |
- FSM Orchestration – Issues commands based on AGV/facility states
- State Logging – Collects AGV/facility telemetry at fixed intervals
- Emergency Control – Manual override for emergency stop and recovery
- Auto Socket Registration – Promotes unregistered AGVs from TEMP IDs to real IDs
- Auto Charge Switching – Moves the AGV to charging mode when idle + low battery
| Tab | Description | Preview |
|---|---|---|
| 📍 Main Monitoring | Real-time visualization of the AGV location and FSM state + manual drive controls | |
| 🧭 Mission Management | Register/delete missions manually and manage the flow from creation → dispatch → completion |  |
| 📑 Event Log | Tail the live event stream covering state changes, command execution, and sensor events |  |
| ⚙️ Settings | Configure AGV IDs, ports, communication parameters, and other runtime options |  |
| Issue | Root Cause | Resolution |
|---|---|---|
| Communication latency | JSON parsing overhead | Switched critical commands to a custom byte protocol to minimize parsing time |
| PWM instability | PID loop conflicted with RFID reading cycle | Pause PID updates during RFID reads to stabilize line following |
| Limitation | Current Behavior | Future Direction |
|---|---|---|
| Single-AGV FSM | GUI & FSM handle only one AGV | Extend to multi-AGV FSM + UI |
| Simulated battery level | Battery handled via simulated values | Integrate INA226 sensor for real readings |
| Simple facility ACK | Only checks ACK without retry logic | Add timeout-based retry & error logging |
| No persistent settings | Runtime settings reset each session | Store configs via JSON/MySQL and restore on restart |
| Category | Technologies | |
|---|---|---|
| Environment | Linux (Ubuntu 24.04) |   |
| MCU & Firmware | ESP32-WROOM, Arduino IDE |   |
| Languages | Python 3.12, C++ |   |
| Control UI | PyQt6 |  |
| Database | MySQL |  |
| Version Control | Git, GitHub |   |
| Collaboration | Confluence, Slack, Jira |    |