Design and Implementation of an Autonomous Trace-tracking and Obstacle-avoidance Mobile Robot Utilizing Multiple Sensors

This paper introduces the design and implementation issues of a wheeled mobile robot capable of autonomously tracking and avoiding obstacles using multiple sensors. The main objective is to design a mobile robot that is both high-performance and relatively low-cost, and by equipping the robot with appropriate sensors, it can efficiently plan paths and achieve accurate line tracking and obstacle avoidance during movement. To achieve these goals, the structure, functional modules, hardware and software, modeling methods, and control algorithms of the robot are designed and elaborated. The completed robot is capable of trajectory tracking, obstacle avoidance, path planning, color recognition, and voice broadcasting functions. In addition, a series of performance debugging and testing methods are proposed to evaluate and adjust various robot functions, thereby enhancing its practical application. Experimental results confirm the effectiveness of the design and implementation methods described in this paper. The robot designed in this study holds potential applications in areas such as warehousing management and smart homes, and provides redundancy to incorporate additional functional modules for expanding its capabilities.