This is a real-world autonomous robot designed to explore and navigate an N×N grid environment to locate and retrieve a target object (representing a "kidnapped" entity). It intelligently avoids obstacles using ultrasonic sensors and creates a dynamic internal map to plan the optimal path in real-time.
- Autonomous navigation across an N×N grid with configurable size
- Real-time obstacle detection using three ultrasonic sensors (left, front, right)
- Dynamic pathfinding and memory mapping to explore unknown areas
- Wall-following and decision-making using simple spatial awareness
- Modular and expandable logic for different grid sizes and complexities
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ESP32 microcontroller
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3x HC-SR04 Ultrasonic Sensors
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2x DC Motors with Motor Driver (L298N or similar)
- Will be changed to N20 motors
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Power supply (LiPo or battery pack)
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Custom PCB or breadboard with jumper wires
- Initializes an N×N grid, with boundary walls and unexplored inner spaces.
- Begins at a starting cell and scans surroundings using ultrasonic sensors.
- Marks explored and blocked paths in its internal matrix.
- Makes decisions to turn or move forward based on open directions.
- If stuck or looped, searches for the nearest unexplored (zero) grid cell and reroutes.
- Continues until all reachable areas are explored or target is found.
- Left Trigger 26
- Left Echo 25
- Right Trigger 14
- Right Echo 27
- Front Trigger 13
- Front Echo 12
- Motor A (PWM) 5, 18
- Motor B (PWM) 19, 21
- Motor Speed 22, 23
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Add configuration option for grid size (N)
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Include robot pictures and environment
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Upload video demo of real-world test
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Improve path selection with shortest-path logic