Development of Indoor Autonomous Mobile BOT for Static Obstacle Avoidance

In this paper, the development of an Indoor Autonomous Mobile Bot has been presented where the HC SR-04 Ultrasonic Sensor (US) and two HW 201 Infrared Sensors (IR) in addition to a NodeMCU ESP12E Module Controller has been used. The US is used to measure obstacle distance, while the two IR sensors measure the left and right wheel velocity. The ESP12E controller is connected to a L298N Driver Module for driving the two motors, and the motors are controlled using Arduino IDE written in the C++ programming language. The study focuses on three different environments, i.e., static, dense, and cluttered, in which the autonomous bot is tested. Different experiments are conducted by varying the speed of the left and right wheels to avoid obstacles in a confined environment.