Design and Implementation of an Indoor Autonomous Mobile Robot with LiDAR-Based Mapping

Lukáš LIZÁK, Tibor VINCE

This paper presents the design and implementation of an indoor autonomous mobile robot equipped with a LiDAR sensor for mapping and obstacle avoidance.

The system uses two microcontrollers—Arduino MEGA 2560 for motor and sensor control, and ESP-32 for data processing and communication via TCP/IP. Infrared proximity sensors and rotary encoders complement the LiDAR to improve obstacle detection. A MATLAB application enables real-time control, speed adjustment, and visualization of the 2D environment map, as well as calculation of room perimeter and area. The proposed solution demonstrates reliable navigation in both manual and autonomous modes, offering potential applications in research, education, and prototyping of autonomous robotic systems.

Keywords: Arduino, Autonomous navigation, ESP-32, Fusion 360, LiDAR, MATLAB, Sensors

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vol: 8, issue: 2