Automatic Hall Guide Robot - Igris -

Abstract

This project presents an autonomous mobile robot designed to guide students and visitors to specific classrooms or labs within a single floor of a university building. The importance of this project lies in enhancing student experience, especially for new students who may struggle to locate rooms in complex campus buildings. The robot aims to reduce confusion, save time, and demonstrate the integration of robotics in educational spaces. Key aspects of the project include autonomous navigation using a lidar, real-time obstacle avoidance, room recognition, user interaction through a touchscreen, and voice feedback via a speaker. The robot also features tilt detection for safety and a small internal bin for plastic bottle collection to promote environmental awareness. It can be remotely monitored and send alerts via Telegram, such as notifications about falls or tilts, or reaches its destination. The primary objective is to build a functional, cost-effective, and interactive robot that receives a room number from the user and autonomously guides them to the correct location. Upon arrival, it confirms the destination through voice and display. The methodology involves system design, component selection (Raspberry Pi, Arduino Mega, Arduino UNO, NEMA 23 motors, TB6600 drivers, RPLiDAR-A1, ultrasonic sensors, MPU6050, 12V Battery, Camera), and software development using ROS2 (Robot Operating System), Python and Arduino C++. Slam_toolbox will create a map that will be used for navigation, with real-time obstacle detection and dynamic path updates handled by ROS2, onboard sensors and high-quality camera. The robot was successfully implemented and tested in the university’s basement floor corridors, where it achieved reliable navigation and guided users accurately to selected rooms. While similar robots exist in commercial sectors such as shop robot “Navii”, this implementation is unique in its educational focus, simplicity, and other features