Design and implementation of a low-cost mobile robot prototype for trajectory tracking and robotic swarm tasks in research and educational applications

IF 1.9 Q3 ENGINEERING, ELECTRICAL & ELECTRONIC

HardwareX Pub Date : 2026-03-01 Epub Date: 2026-02-04 DOI:10.1016/j.ohx.2026.e00746

Donovan A. Porras Minaya, Alejandro J. Arocutipa Zambrano, Joel A. Chura, Jorge L. Huarca

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Abstract

This work presents the design and implementation of a low-cost mobile robot prototype for trajectory tracking and robotic swarm tasks, aimed at research and educational applications. The robot is equipped with encoders for precise movement control and features wireless communication capabilities, enabling multiple robots to operate together using the ESP-NOW (Espressif’s proprietary wireless protocol) protocol. The input for calculating the trajectory is provided by a camera positioned 1.5 meters away, which analyzes the environment and supplies the necessary data for tracking. The system’s performance was validated through trajectory-following tests, where the robot navigated around several obstacles. The A* algorithm was implemented to calculate optimal paths and avoid collisions, ensuring smooth navigation. The results demonstrated the robot’s ability to effectively handle multiple obstacles while maintaining precise trajectory tracking. This prototype offers an affordable solution for educational and research purposes, particularly in multi-robot systems and the study of pathfinding algorithms. Future research can explore the integration of additional sensors and the optimization of the behavior of the swarm.

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低成本移动机器人原型的设计和实现，用于轨迹跟踪和机器人群任务的研究和教育应用

这项工作提出了一种低成本的移动机器人原型的设计和实现，用于轨迹跟踪和机器人群任务，旨在研究和教育应用。该机器人配备了用于精确运动控制的编码器，并具有无线通信功能，使多个机器人能够使用ESP-NOW （expressif专有无线协议）协议一起操作。计算轨迹的输入由位于1.5米外的摄像机提供，该摄像机分析环境并提供跟踪所需的数据。该系统的性能通过轨迹跟踪测试得到了验证，在测试中，机器人绕过了几个障碍物。采用A*算法计算最优路径，避免碰撞，保证导航顺畅。结果表明，该机器人能够有效地处理多个障碍物，同时保持精确的轨迹跟踪。这个原型为教育和研究目的提供了一个经济实惠的解决方案，特别是在多机器人系统和寻路算法的研究中。未来的研究可以探索附加传感器的集成和群体行为的优化。

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来源期刊

HardwareX Engineering-Industrial and Manufacturing Engineering

CiteScore

4.10

自引率

18.20%

发文量

124

审稿时长

24 weeks

期刊介绍： HardwareX is an open access journal established to promote free and open source designing, building and customizing of scientific infrastructure (hardware). HardwareX aims to recognize researchers for the time and effort in developing scientific infrastructure while providing end-users with sufficient information to replicate and validate the advances presented. HardwareX is open to input from all scientific, technological and medical disciplines. Scientific infrastructure will be interpreted in the broadest sense. Including hardware modifications to existing infrastructure, sensors and tools that perform measurements and other functions outside of the traditional lab setting (such as wearables, air/water quality sensors, and low cost alternatives to existing tools), and the creation of wholly new tools for either standard or novel laboratory tasks. Authors are encouraged to submit hardware developments that address all aspects of science, not only the final measurement, for example, enhancements in sample preparation and handling, user safety, and quality control. The use of distributed digital manufacturing strategies (e.g. 3-D printing) is encouraged. All designs must be submitted under an open hardware license.