An ESP32-Based Autonomous Mobile Robot for Rough Terrain Navigation Using Multi-Sensor Obstacle Avoidance and Hazard Detection

Abstract

The research focuses on the design, fabrication, and implementation of an intelligent rocker-bogie mobile robot capable of navigating challenging terrains while performing real-time obstacle detection and hazard monitoring. The system is built around the ESP32 microcontroller, which serves as the central processing unit for sensor integration, decision-making, and control operations. The robot utilizes a six-wheeled rocker-bogie suspension mechanism that ensures continuous ground contact for all wheels, thereby enhancing stability and mobility over uneven, rocky, and inclined surfaces without the need for complex suspension systems. To enable autonomous navigation, the robot is equipped with an ultrasonic sensor that continuously measures the distance to nearby obstacles and adjusts its path accordingly to prevent collisions. In addition to obstacle avoidance, a fire detection sensor is incorporated to identify hazardous environmental conditions, making the system suitable for safetycritical applications. The robot operates in two distinct modes: an autonomous mode, where it independently navigates and responds to environmental inputs, and a manual mode, which allows user control for precise manoeuvring in complex scenarios. This dual-mode functionality increases the versatility of the system for applications such as disaster management, surveillance in hazardous zones, and exploration tasks. Experimental evaluations confirm that the robot demonstrates reliable obstacle detection, efficient navigation, and quick response times, validating its effectiveness as a robust and adaptable mobile robotic platform for real-world applications.