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Autonomous Utility Bot with Self Balancing and Obstacle Avoidance

  1. Aatman Patel
  2. Vijay Savani
  3. Hardik Joshi

Abstract

Over the last decade, there has been a surge in global interest in two-wheeled self-balancing robot research. The kinematics model of a two-wheeled self-balancing autonomous mobile robot is described in this paper. After the mechatronics system design for the robot is completed, the analysis of the entire kinematics model can be divided into two wheels and a body. The velocity decompositions of the robot wheel and body are then examined. This work involves various stages of development for a multi-purpose utility bot. Wheeled robots are gaining popularity over humanoid robots due to their faster and better mobility in confined spaces. These wheeled robots balance and move their wheels using inverted pendulum technology. The paper is divided into three stages, each with its own system. They can be combined into a single unmanned utility bot, as discussed in the paper. Among the sensors and modules used were ultrasonic sensors, MPU6050, HC05 Bluetooth module, L298 Motor Drivers, and A4988 Motor Drivers. They are used to implement a real-time obstacle avoidance and self-balancing system for wheeled robots, allowing the robot to detect its surroundings, avoid obstacles, and move towards the target area while balancing itself even in the most extreme conditions. Completing the robot's design and development phase requires careful consideration of all factors, including operating conditions, materials, hardware, sensors, and software. This procedure enables continuous improvements to the perceived operation of the system while also ensuring that obvious problems and potential flaws are addressed prior to construction. The construction phase consists of the fabrication and assembly of the robot's circuits, hardware, and chassis, followed by the implementation of the software and programming aspects. The latter completes the robot's production and determines the final maintenance requirements. These are required to keep the robot in serviceable condition

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