Paper Title
Android Streaming Micro Quadcopter With Obstacle Detection

Abstract
This paper presents the design and development of a cost-effective micro quadcopter capable of real-time video streaming to Android devices, integrated with an obstacle detection system. The core of the video streaming functionality is handled by an ESP32-CAM module, which transmits live footage over Wi-Fi. An Arduino Pro Mini serves as the primary control unit, orchestrating the flight behavior through communication with a dedicated flight controller. Obstacle detection is implemented using an HC-SR04 ultrasonic sensor, allowing the drone to perceive nearby objects and adjust its movement accordingly. The propulsion system consists of four EVO motors and propellers, enabling agile flight in constrained indoor environments. The proposed system offers a compact, lightweight solution ideal for surveillance and research applications. Performance evaluation demonstrates reliable streaming at moderate latency and effective obstacle avoidance in controlled settings. Future work aims to enhance autonomous capabilities and expand the system’s application to outdoor navigation scenarios. Keywords - Micro Quadcopter, ESP32-CAM, Android Streaming, HC-SR04 Ultrasonic Sensor, Real-Time Video, Obstacle Detection