• A Nitish
• Abhishek Sharma
• Dr. B. Roopa

Abstract—The Autonomous Remote-Controlled Exploration Vehicle (ARCEV) enhances safety in hazardous tunnel environments by integrating multi-sensor monitoring and adaptive edge-based object detection. The system utilizes an ESP32-CAM for real-time video streaming and Edge Impulse to deploy a lightweight machine learning model for identifying tunnel-specific objects (e.g., debris, equipment). Detected objects are classified and displayed on an onboard interface, while unrecognized entities are flagged as "unknown" to alert operators. Environmental sensors—IMU (collision/tilt detection), BMP280 (altitude/pressure), DHT11 (temperature/humidity), and a gas sensor—enable comprehensive hazard monitoring. A hybrid architecture ensures low-latency processing: the ESP32 locally handles IMU data and Edge Impulse-driven object detection, triggering immediate actions (e.g., obstacle avoidance). Unidentified objects and sensor data are logged to Firebase Realtime Database, enabling dynamic updates to the Edge Impulse training dataset. This iterative process refines detection accuracy by incorporating newly encountered objects, ensuring adaptive learning. Firebase further supports remote visualization, live alerts, and environmental threshold management (e.g., gas levels) without cloud-based ML frameworks. By combining edge-AI for real-time visual analytics, automated data-driven model updates, and centralized Firebase dashboards, ARCEV delivers a scalable solution for safe exploration, operational transparency, and continuous improvement in dynamic environments.

Index Terms— Autonomous Tunnel Exploration, Edge Impulse, ESP32-CAM, Firebase Realtime Database, Adaptive Object Detection, Continuous Model Training, Hazard Alert System.

"Autonomous Remote Contolled Exploration Vehicle", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.12, Issue 5, page no.e519-e524, May-2025, Available :http://www.jetir.org/papers/JETIR2505531.pdf

"Autonomous Remote Contolled Exploration Vehicle", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.12, Issue 5, page no. ppe519-e524, May-2025, Available at : http://www.jetir.org/papers/JETIR2505531.pdf