Résumé:
This thesis presents a comprehensive solution for designing and implementing a real au-
tonomous mobile robot based on ESP-32 micro-controller. The proposed solution is based
on a mathematical motion model for differential wheeled mobile robots. The goal of the
robot is to predict its position and perform trajectory planning using only its on board
sensors and actuators.
The thesis consists of four chapters, including an introduction to mobile robots, motion
modeling for differential wheeled mobile robots, the study of ESP-32 based systems, and
the design and implementation of the mobile robot prototype. The solution’s advantages
include the use of micro-controller enhanced by RTOS real time operating system, a graph-
ical interface to control and visualize robot motion. Furthermore, a simulation model is
provided for testing and validation purposes.
