UPGRADING A MOBILE ROBOT BASED ON PLATFORM P2DX OUTDATED

Abstract

This study presents a technique to upgrade an outdated P2DX mobile robot which has lost its control into a device that can work in the laboratory. The entire old controller and sensors have been replaced with a new controller and sensors, keeping only the old motors. The ESP32 microcontroller is used as the main controller and five ultrasonic sensors are used to sense the surrounding environment to help the robot avoid obstacles. The robot is modelling again, follows by a PID controller which allows robot can move stable. To evaluate the automatic operation of the robot, the problem of exiting the maze by the wall-clinging method was applied. Accordingly, a fuzzy logic control is built as a wall following rule to help the robot escape the maze. In addition, a ceiling camera is arranged to collect the trajectory of the robot moving in the maze. Two mazes with different turns were constructed to evaluate the proposed method. The results show that the mobile robot and ceiling camera work well. This result allows further researches such as applying ROS and SLAM in outdoor environment.