OMNIBOT: Robô Omnidirecional e solução IoT para controle e monitoramento remoto

Abstract

Robotics has been establishing itself as a vital field, driven by technological advances and the growing demand for automation in various sectors. In this context, mobile robotics is one of the most prominent segments, not only due to the growth of robotics in industry but also due to significant efforts in educational robotics, which adopts a more academic and research-oriented approach. From this perspective, this paper presents the development of an omnidirectional mobile robotics platform called OmniBot. The goal is to provide a teaching tool that can be used in the classroom and laboratory for teaching and researching robotics in the Bachelor’s degree program in Mechanical Engineering at the Federal Institute of Piauí (IFPI). The project was conceived as a modular, low-cost, and easily replicable solution, integrating concepts from mobile robotics, the Internet of Things (IoT), and distributed control. The robot was built using JGA25-370 motors with encoders, mecanum wheels, an ESP32 microcontroller, and a BitDogLab remote control interface (Raspberry Pi Pico W), which communicates with the Robot Operating System 2 (ROS 2) via micro-ROS. The mechanical structure was modeled in Autodesk Fusion 360 and manufactured using 3D printing, allowing for modular attachment of sensors and controllers for different application scenarios. The OmniBot was then tested in the laboratory and demonstrated success, as expected, with its movement in all directions, stable communication with ROS 2, and responsive remote control. Finally, technical documentation was prepared containing all the necessary information for assembling, operating, and modifying the robot, reinforcing its educational and open-source nature.