Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
Volume 2, Issue 3
12
Acumen: International Journal of Multidisciplinary Research
A SMALL-SIZED MOBILE ROBOT DEVELOPMENT
Kateryna Nimets1, Amer Abu-Jassar2, Svitlana Maksymova1, Vladyslav
Yevsieiev1
1Department of Computer-Integrated Technologies, Automation and Robotics,
Kharkiv National University of Radio Electronics, Ukraine
2Department of Computer Science, College of Information Technology, Amman
Arab University, Amman, Jordan
Abstract
The article considers an example of assembling a small-sized mobile robot. The
main principles that distinguish a robot from other intelligent devices are considered.
The types of parts that must be in each such robot are also given. The main stages of
assembling a mobile robot are presented with photographs.
Keywords:
Mobile Robot, Small-Sized Mobile Robot, Wheel, ESP32-Cam,
Assembly.
Introduction
In the modern world, the principles of the Industry 4.0 concept have become
widespread [1]-[12]. The main one of its provisions is the widespread use of robots
[13]-[25]. Based on today's realities, the development of small-sized mobile robots is
becoming extremely relevant. Modern small-sized mobile robots are one of the most
promising branches of robotics. They are used in various areas: from everyday life to
scientific research, and their popularity is due to compactness, high maneuverability
and accessibility of technologies. These robots are characterized by the use of various
technical means and materials that ensure their functionality. Such robots, in addition
to conventional use, find their purpose for military purposes. These include the analysis
and study of rubble, especially in buildings made of reinforced concrete structures and
panels. Small-sized robots can also be used for mining and demining territories. And
here various methods and algorithms can be used, both for justifying such robots and
for making decisions during their work [26]-[42].
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
It should be noted that one of the main conditions is the low cost of such a robot
and the possibility of remote control. In this case, preference is given to the use of Wi-
Fi technology, rather than Bluetooth, due to its greater range.
Related works
Many modern scientists are developing small-sized robots. Research is
conducted in various directions: from creating a design to developing various control
systems. Let's consider several recent scientific works on this topic.
The scientists in [43] developed a a small-sized quadruped robotic rat (SQuRo),
which includes four limbs and one flexible spine. The results obtained through a series
of experimental tests reveal that SQuRo achieves a superior motion performance
compared with existing state-of-the-art small-sized quadruped robots.
The paper [44] focuses on the features of transport (locomotion) systems of
mobile mini-robots (MMR), i.e., small unmanned ground vehicles of a portable type
measuring several tens of centimeters and weighing no more than 15 kg.
Quan, X., and co-authors in [45] also consider a SQuRo. They note that small-
scale quadruped robots have limited payloads and thus cannot carry sufficient sensing
and computational resources, which imposes limitations on their environmental
adaptability. They proposed an efficient closed-loop adaptive controller by simplified
pose estimation and control strategy that utilizes only inertial measurement unit
sensors, which drastically reduces the control computation.
The study [46] focuses on computer vision system for a small-sized mobile
humanoid robot development. The decentralization of the servomotor control and the
computer vision systems is investigated based on the hardware solution point of view,
moreover, the required software level to achieve an efficient matched design is
obtained.
Gao, J., & et al. in [47] ntegrated the inertial measurement unit into the small-
sized robotic rat SQuRo, and proposed simplified control strategies to enhance its
robustness in order to ensure high environmental adaptability and promising
applications.
Researchers in [48] use a low-cost small-scale mobile robot for monitoring
temperature. It is equipped with a thermal scanning platform. They claim that robotics
system has the potential to revolutionize thermal monitoring of buildings and enable
energy characterization through thermal models.
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
So we see a wide variety of research in the field of the development and use of
small-scaled robots in various fields. Further in this article we will look at the assembly
of such a robot.
A small-sized mobile robot assembling
Modern robots are equipped with complex sensory systems that allow them to
analyze the environment, make independent decisions and adapt to changing
conditions. Thanks to the use of machine learning algorithms and artificial intelligence,
robots are able to build behavioral models that ensure the performance of even non-
standard tasks.
The main characteristics that distinguish robots from other intelligent devices:
1.
SENSE. The robot is able to obtain data about the environment through
sensors such as microphones, cameras, infrared, electromagnetic or electromechanical
sensors.
2.
THINK. The robot analyzes the collected information, models the
environment and makes decisions to achieve the set goal. This is possible thanks to
algorithms that allow you to assess the situation and adjust actions in real time..
3.
ACT. A robot influences the external environment using actuators such as
manipulators, actuators, or mobile platforms.
Wheeled robots are a type of robot that uses wheels for movement. They are
characterized by high maneuverability, speed of movement and simplicity of design.
The main components of a wheeled robot:
– Housing. Serves as the basis for all other components. It is made of various
materials (plastic, metal) and can have a variety of shapes.
– Wheels. Ensure the movement of the robot. Can be of different diameters, have
different tread patterns and be made of different materials.
– Motors. Convert electrical energy into mechanical energy, setting the wheels
in motion.
– Microcontroller. A component of the robot that controls all its functions.
– Sensors. Allow the robot to navigate in space, avoid obstacles, and determine
the distance to objects. The most common sensors are ultrasonic, infrared, laser, lidar.
– Batteries. Ensure the operation of the robot's electronics.
– Drivers. Control the operation of the motors.
Wheeled robots equipped with cameras are extremely popular due to their
effectiveness in performing tasks related to computer vision, autonomous navigation,
and interaction with the environment. Such robots are used in scientific research,
education, logistics, everyday life, and other fields.
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
To implement a small-sized mobile robot, it is important to consider in detail the
hardware components used and the process of their assembly. This section presents the
key elements of the robot design, as well as step-by-step instructions for its creation,
which will ensure the reliability and functionality of the device.
Elegoo Robot Car Kit is a universal kit for assembling a mobile robot, containing
the main hardware components that ensure its functionality.
The basis of the robot are two acrylic plates, marked "A" and "B" - Top Plate
(top plate) and Bottom Plate (bottom plate), respectively. It is quite easy to distinguish
them - the top plate A has an additional hole for the SG90 servo.
Figure 1:
Acrylic robot plates
After removing the protective film, it is necessary to assemble the four motors
and install them on the bottom plate (Fig. 2).
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
Figure 2:
Installing motors on the plate
Next, you need to install the line following module on the bottom plate. The
sensor consists of three infrared sensors (Fig. 3), which allow the robot to follow a
black line on a light background, providing the line tracking function.
Figure 3:
Line following module
We install the GY-521 module on the expansion board. The GY-521 is an
accelerometer and gyroscope module based on the MPU-6050, which allows you to
measure acceleration and angular velocity, providing data on the inclination and
movement of the robot. The OI expansion board (V5.0 Expansion Board) is used to
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
conveniently connect various modules and sensors to the UNO R3 board, simplifying
the assembly process and preventing errors during connection.
Figure 4:
GY-521 module and expansion board
We install the UNO R3 board (Fig. 5) on the top plate and connect the expansion
board with the GY-521 module to it (Fig. 6). UNO R3 is an ATmega328P-based
microcontroller board compatible with Arduino. It provides control of all robot
modules and is programmed via the Arduino IDE.
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
Figure 5:
UNO R3 board installed
Figure 6:
Connecting modules to the board
To create a computer vision system and for the robot to perceive information
from the outside, it is necessary to install the following modules on a fixed platform:
the ESP-32 Cam camera module, the ultrasonic sensor module and the Servo SG90
microservo.
ESP32-CAM is a module with an OV2640 camera, built on the basis of the
ESP32 microcontroller. It has Wi-Fi and Bluetooth capabilities, which makes it the
right choice for video surveillance, face recognition and IoT projects.
HC-SR04 is an ultrasonic distance sensor used to detect obstacles in the path of
the robot. It measures the distance to objects and helps to avoid collisions.
The SG90 microservo is used to rotate the ultrasonic sensor, providing the robot
with the ability to scan the space in front of it and detect obstacles at different angles.
After assembly, we install the elements on the top plate, having previously
attached to it a battery compartment with a lithium battery, which provides power and
operation of the robot for approximately 2 hours in line tracking mode.
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
Figure 7:
Modules installed on the top plate
Next, we assemble the entire robot div, connect the motors and all elements to
the UNO R3 board, and attach the wheels to the motors.
Figure 8:
Connecting modules to the UNO R3 board
Acumen:
International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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Acumen: International Journal of Multidisciplinary Research
Figure 9:
General view of a small mobile robot
Conclusion
In accordance with the principles of the Industry 4.0 concept, robots are
increasingly penetrating all spheres of human life. It should be noted that for different
areas of application, different criteria for selecting both hardware and software for
robots are used. In particular, small-sized mobile robots are used in active combat
situations. They can be used both for examining rubble, including searching for
victims, fires, etc., and for mining/demining and similar tasks. It should be taken into
account that one of the key requirements for such robots is low cost.
A selection of hardware components was made to create a robot prototype, in
particular, the use of an ESP32-CAM camera and an Elegoo Uno R3 controller, which
provided an optimal ratio of performance and cost.
A wheeled mobile robot design was selected with the possibility of additional
integration of sensors and modules to expand functionality.
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International Journal of
Multidisciplinary Research
ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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International Journal of
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ISSN: 3060-4745
IF(Impact Factor)10.41 / 2024
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