The thesis presents the process of designing and developing a modular sensor and control module for a mobile robot, as well as the development of software for its control. Current market solutions offer only monolithic systems that are not designed for both indoor and outdoor chassis. The design of a unified module allows for lower production costs and easier use. It includes various sensors that enable better environmental perception, more accurate navigation, movement through space, and increased operational safety.
The aim of the thesis is to design a module that can be easily mounted onto various wheeled robot chassis, such as an indoor vacuum cleaner or an outdoor lawn mower. The housing was designed to occupy as little space as possible on the chassis.
The main component of the module is the Raspberry Pi controller. Using a simple application developed with the Flask framework, remote control of the robot over a local network via a phone or computer is enabled. The developed software uses a Proportional-Integral-Derivative (PID) controller to maintain direction and gyroscope data for precise turning.
Ultrasonic sensors are implemented for obstacle detection, allowing a certain level of autonomous driving. The control module is capable of detecting and avoiding obstacles, as well as adjusting its driving direction based on feedback from the sensors. The system was tested in various scenarios (both indoor and outdoor environments), and it successfully maintained direction without deviation.
The system provides a cost-effective and adaptable platform for mobile robots. In the future, it could be upgraded with advanced machine learning algorithms or the integration of additional sensors for improved environmental perception.
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