Desing and Implementation of an Autonomous Service Robot for Intelligent Visitor Guidance on University Campuses (#1525)

Authors

Flores Montoya, Mathias Marcelo

Vera Contreras, Esteban Daniel

Oviedo Robles, Matteo Santiago

Quispe Ccachuco, Marcelo Jaime

Castillo Cáceres, Cesar Pio

Collado Oporto, Christiam Guillermo

Hihuaña Hallasi, Juan Carlos

Abstract

This project presents the design, implementation, and validation of an autonomous service robot intended to guide visitors, students, and staff within university campuses. The initiative addresses the architectural complexity of the campus and aims to optimize travel times while reinforcing the institution’s technological innovation. The system is built on a hierarchical control architecture: an ESP32 microcontroller acts as the master unit and web server, managing the user interface and high‑level logic, while a secondary unit performs closed‑loop control of the actuators. Mechanically, the robot uses a Direct Drive system with high‑torque wiper motors and A36 steel shafts in a cantilever configuration, validated through Von Mises stress analysis to support loads up to 20 kg with a safety factor greater than 3.0. Navigation is achieved through a hybrid trajectory recording and playback algorithm. A QMC5883L magnetometer with PID control ensures accurate heading and rectilinear motion, while a TFmini‑S LiDAR sensor halts the robot when dynamic obstacles are detected within 1.5 m. A NEO‑M8N GPS module provides checkpoint validation through geolocation. Human–Machine Interaction is carried out through a Progressive Web Interface stored in the robot’s memory and accessible via its Wi‑Fi Access Point mode, complemented by text‑to‑speech audio feedback. Experimental results demonstrate stable navigation, effective obstacle detection, and intuitive interaction, meeting safety and functionality requirements for academic environments.