Semi-autonomous Mobile Robot

Built an autonomous mobile robot that is controlled using a ESP32 and performs the following tasks:

  1. Wall Following: A proportional controller is used to maintain a certain distance from the wall while following it and the sensors used are ultrasonic sensors and time of flight sensors.

  2. Remote Control: Remotely controlled using UDP protocol.

  3. Following a flashing beacon: IR sensors are used to detect a beacon (made of IR LEDs) and approach it.

  4. VIVE localization: A diode is used to capture the laser sweeps from HTC VIVE base stations and localize the bot in an arena.

First iteration of the bot