Design and implementation of an autonomous mobile robot with PID motion control

Design and implementation of an autonomous mobile robot capable of navigating a predefined maze while maintaining controlled and stable motion. The system was built around an ESP32 microcontroller and used closed-loop PID control to regulate the speed of the DC motors based on encoder feedback. The electronic system integrated dedicated power and control stages for motor actuation, voltage regulation, encoder acquisition, and communication with the ESP32. A custom PCB was designed and implemented to integrate the main electronic components and simplify their interconnection within the mobile platform. The PID controller continuously adjusted the motor commands based on encoder feedback to compensate for differences between the wheels and improve motion stability. MQTT communication was also implemented to transmit operating data from the ESP32 to a computer for remote monitoring during experimental testing.

Hardware Design and Implementation

PCB Design

3D visualization of the custom PCB developed to integrate the ESP32 with the signal conditioning, motor control, and power circuitry required by the mobile robot.

Electronic Components and Actuation System

Main hardware components used during development, including the ESP32, DC motors with encoders, motor driver, batteries, and other elements required for motion control and prototype integration.

PCB Implementation

Fabricated and assembled control PCB integrating the ESP32 and the electronic stages used for motor actuation, encoder signal processing, and power distribution.

Experimental Testing

Control and Signal Validation

Experimental testing of the implemented electronics using laboratory instrumentation to verify the control signals and evaluate the behavior of the system prior to final integration.

Final Mobile Robot Prototype

Final integration of the electronic control system, PCB, motors, encoders, and mechanical structure into the autonomous mobile platform used for PID-controlled navigation tests.