Design and Implementation of an Autonomous Mobile Robot Based on ESP-32

Abstract

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.