Abstract :

Achieving Reliable Indoor Positioning For Mobile Robots Continues To Be A Complex Problem In Modern Industrial Automation, Particularly In Environments Where Global Positioning System (GPS) Signals Are Unavailable And Surface Conditions Introduce Motion Inconsistencies. Many Conventional Robotic Systems Depend On Simple Motion Control Strategies Or Proximity-based Sensing, Which Often Lead To Inaccurate Positioning Due To Wheel Slip, Accumulated Motion Errors, And Absence Of Real-time Positional Validation. This Work Introduces A Color-Assisted Autonomous Rover (CAAR) That Combines Sensordriven Feedback With An Intelligent Navigation Framework To Improve Localization Accuracy Within A Predefined Grid Layout. The Platform Is Powered By An ESP32 Microcontroller Unit (MCU) And Incorporates A Micro-Electro-Mechanical Systems (MEMS)-based Inertial Measurement Unit (IMU) Along With Quadrature Encoders To Enable Closed-loop Proportional-Integral-Derivative (PID) Control, Ensuring Stable Linear And Angular Movement Despite Environmental Disturbances. A Dual-channel InterIntegrated Circuit (I2C) Communication Configuration Is Employed To Efficiently Manage Simultaneous Data Streams From Motion Sensors And A TCS34725 Red-Green-Blue (RGB) Color Sensor, Minimizing Communication Delays. The Navigation Logic Converts Cartesian Coordinate Inputs Into Directional Commands, Enabling The Robot To Traverse Systematically Across Grid Points. At Each Target Location, The System Validates Its Position Through Color Detection Within A Structured Matrix, Adding A Layer Of Environmental Confirmation. A WebSocket-based Communication Interface Supports Both Manual Adjustments And Automated Navigation Modes. Experimental Observations Indicate A Noticeable Reduction In Positional Drift Compared To Traditional Methods, Demonstrating Improved Consistency And Reliability. Keywords: Indoor Navigation, Mobile Robotics, RGB Color Sensing, WebSocket Interface, GridBased Localization, Quadrature Encoders.

Published:

21-4-1-2026

Issue:

Vol. 26 No. 4-1 (2026)

Page Nos:

641-649

Section:

Articles

License:

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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