Implementation and Control System Development of a Differential Drive Wheeled Mobile Robot

Abstract

his study presents a cost-effective differen- tial wheeled mobile robot system designed for educational and research applications. The robot employs an ESP32 microcontroller for control and communication, integrat- ing sensors such as ultrasonic modules, an IMU 9050, and a line-following module via the I2C protocol. PID controllers were designed and fine-tuned using MAT- LAB’s System Identification Toolbox to address motor asymmetries, ensuring stable and synchronized perfor- mance. A custom-built user interface developed in C# enables real-time monitoring and control via Bluetooth, allowing users to configure modes and visualize robot trajectory. The experimental setup was intentionally simple and reproducible, enabling straightforward de- ployment for instructional purposes. The system was validated through tasks such as line-following, obsta- cle avoidance, and trajectory tracking, with the latter demonstrating superior accuracy. While limitations, such as sensor inaccuracies in reflective environments and computational constraints of the ESP32, were iden- tified, proposed future enhancements include integrat- ing advanced sensors and machine learning algorithms. The robot’s modularity, affordability, and adaptability make it a versatile platform for introducing students to robotics and conducting foundational research in control systems.