Design and implementation of a low-cost mobile robot prototype for trajectory tracking and robotic swarm tasks in research and educational applications
Donovan A. Porras Minaya, Alejandro J. Arocutipa Zambrano, Joel A. Chura, Jorge L. Huarca
TL;DR
This paper introduces an affordable mobile robot for educational and research use, capable of tracking paths and working in swarms.
Contribution
The novelty lies in the low-cost design with ESP-NOW communication for swarm tasks and precise trajectory tracking.
Findings
The robot successfully navigated around obstacles while maintaining accurate trajectory tracking.
The A* algorithm enabled optimal path calculation and collision avoidance.
The prototype provides an affordable solution for multi-robot system research and education.
Abstract
This work presents the design and implementation of a low-cost mobile robot prototype for trajectory tracking and robotic swarm tasks, aimed at research and educational applications. The robot is equipped with encoders for precise movement control and features wireless communication capabilities, enabling multiple robots to operate together using the ESP-NOW (Espressif’s proprietary wireless protocol) protocol. The input for calculating the trajectory is provided by a camera positioned 1.5 meters away, which analyzes the environment and supplies the necessary data for tracking. The system’s performance was validated through trajectory-following tests, where the robot navigated around several obstacles. The A* algorithm was implemented to calculate optimal paths and avoid collisions, ensuring smooth navigation. The results demonstrated the robot’s ability to effectively handle multiple…
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Taxonomy
TopicsRobotic Path Planning Algorithms · Control and Dynamics of Mobile Robots · Robotic Locomotion and Control