National Student Energy Summit (NSES 2024)

Organized by Department of Electrical and Electronics Engineering

Manipal Institute of Technology, Manipal

Multipurpose Omnidirectional Rover

Ruthvik B J1, Shreesha Hanagud2, Sutanjan T R3 , Thejas Gowda R4
¹Dept. of Electronics and Communication, Vidyavardhaka College of Engineering, India
² Dept. of Electronics and Communication, Vidyavardhaka College of Engineering, India
³ Dept. of Electronics and Communication, Vidyavardhaka College of Engineering, India

1 2 3
ruthvikvyshnav@gmail.com ; shreeshanagodu06@gmail.com ; suranjantr14@gmail.com@gmail.com:
4
thejasgowdar8@gmail.com

Abstract— In recent years robotics have undergone a significant transformation with a greater emphasis on
developing a robot that is versatile and highly mobile. This project make use of ESP32 microcontroller to build a
rover with mecanum wheels, allowing it to move in any direction. This rover is adaptable making it suitable for
applications like surveillance and remote monitoring. In this paper, a detailed review of latest works that were
implemented in the arena of omnidirectional multipurpose robot is presented. The paper briefs about the different
component used, use of recent technologies, its working and future work.

Keywords— Arduino, ESP32 microcontroller, Gps module, ESP32 cam, Mecanum wheels.

I. INTRODUCTION
In this era of rapid technological advances and ever-increasing demand for innovative solutions, the
Omnidirectional Rover project proves the endless possibilities of robotics and automation. The project is based
on state-of-the-art hardware and software interfaces and embodies the vision to create a robotic platform that
redefines mobility, data collection, and communications. The core of the project revolves around the ESP32
microcontroller, which acts as the central intelligence behind the "omnidirectional rover”. With an insatiable
thirst for innovation, our project seeks to harness the potential of this microcontroller to achieve omnidirectional
movement. This is a special feature of that allows the rover to move seamlessly in any direction. This was made
possible by his integration of Mecanum wheels, a new mobility approach that gives the rover unprecedented
agility and versatility. This project goes beyond mobility and envisions a comprehensive system that allows the
spacecraft to not only move, but also sense its surroundings and transmit critical information in real time. For
this purpose, we will integrate a camera module that will allow the rover to acquire high-quality visual data.
They can be used for a variety of purposes, from surveillance to environmental research.
Additionally, incorporating a GPS module will allow the rover to pinpoint its exact location and map a precise
route, expanding its potential applications into areas such as mapping, search and rescue, and remote data
collection. The omnidirectional rover, designed for versatility, not only collects data, but also actively
communicates. Utilize an advanced alarm notification system to quickly communicate critical information to
operators and stakeholders. This feature is especially useful in the following scenarios where a timely response
is most important: B.Security Operations and Real-Time Monitoring. As we dig deeper into the omnidirectional
spacecraft project, this overview is intended to provide insight into the grand vision that embodies. This is an
exploration of possibility, an embodiment of innovation, and is poised to redefine how we approach challenges
and opportunities across 's various disciplines.

II. LITERATURE REVIEW

V. Wanjari et.al [1] proposed paper, emphasizes how important remote robots are becoming to industrial
processes, since they are essential for testing, monitoring, and negotiating difficult terrain. It focuses on a four-
wheeled Mecanum mobile robot and emphasizes sensor integration for new surroundings, strong control
systems, and modularized wheel design. It solves ground collision difficulties by utilizing Omni wheels for
improved navigation, producing a steady, independent robot suitable for indoor and industrial use. While
acknowledging building problems, the goals include evaluating OmniWheel technology, putting remote control
into practice, and
 National Student Energy Summit (NSES 2024)
Organized by Department of Electrical and Electronics Engineering
Manipal Institute of Technology, Manipal

customizing the robot for surveillance and transportation. Although they are more expensive and complex,
circular robots provide better mobility and protection. highlights the practical uses and instructional value,
suggesting future sensor improvements and terrain-specific wheel designs. It draws attention to the growing
significance of Omni-wheel robots in various industrial environments.

Aalase, P. Bandgar et.al [2] proposed literature describes the development and significance of intelligent visual
surveillance systems, highlighting the transition towards computer vision-assisted real-time monitoring. It talks
about how embedded systems are found in many commonplace products, emphasizing their function in
contemporary technology and the change in security priorities from post-event analysis to preventative
measures. The technical aspects are further highlighted by the possibility to integrate sensors for improved
functionality and accessibility in home appliances, as well as the precise technique incorporating parts such as
GSM modules, Arduino Uno, ESP-32 CAM Module, IR Sensors, Power Supplies, and Buzzers. It also explores
benefits like lower costs, better quality, productivity, and adaptability in dangerous environments, weighed
against possible negatives like job displacement and upfront investment needs, giving readers a thorough
understanding of the complexities and possible outcomes of the field.

M. H. B. Zohari and M. F. B. M. Nazri [3] literature explores the development of a GPS-based car tracking
system in response to Malaysia's rising auto theft rates. It draws attention to the rising need for these kinds of
technologies and their essential function in countering criminals' cunning. With an alarming number of vehicle
theft incidents, the technology aims to provide vehicle owners with real-time position data via coordinates and
links to Google Maps. It incorporates GPS, GSM, and Arduino MEGA modules methodologically for tracking
and communication. Talks center on power source nuances, indoor precision constraints, and software
complexity that arises during development. In summary, it highlights how the system can prevent thefts by
instantly informing owners of the whereabouts of their vehicles and recommends improvements including
improved GPS modules and IoT connectivity for enhanced tracking capabilities.

S. S. Tippannavar et.al [4] proposed literature presents a thorough smart car system that uses cutting edge
technology to answer issues about driving safety. Using RFID cards, biometric sensors, and Internet of Things
connectivity, this system combines keyless entry with remote monitoring through computers or smartphones. In
addition to having panic buttons for passenger security and real-time cabin surveillance, the prototype is
designed to notify family members and law enforcement in the case of an accident. It uses ESP8266, Arduino,
and Raspberry Pi modules for cloud connectivity, sensor data management, and vehicle control. The project
places a strong emphasis on alcohol and smoke monitoring, accident detection, and safety elements. The
methodology includes information on sensor integration, hardware setups, and security features like GPS
tracking, RFID, and fingerprint locks. Improving user control and accessibility, preventing accidents, and
enhancing vehicle security are the main objectives of the project.

Menaka Manickam et.al [5] developed a mobile chassis and the ESP32-CAM board are used by the literature to
reveal a surveillance robot that makes a cost-effective surveillance system. With the inclusion of a tiny camera
module and Wi-Fi connectivity, this gadget allows for remote control using an ESP32-CAM-hosted web
interface. Through computer vision techniques, it provides movement control, live streaming of videos, and
object detection, with applications in home security, industrial monitoring, and remote location surveillance.
The integration of the ESP32-CAM guarantees wireless data transmission, remote operation, and high-quality
image capturing. Hardware assembly, ESP32-CAM programming, functionality and picture quality testing, and
configuring remote access for real-time monitoring are all part of the technique.

Meghana et.al [6] proposed a method in order to improve car safety, the paper highlights low-cost Internet of
Things solutions. The ESP32 microcontroller is used in applications such as gas and ultrasonic sensing, alcohol
detection, and accident monitoring. It addresses problems including failure to buckle up, drunk driving
accidents, and emergency response using vibration and GPS sensors. Hardware prototypes verify location
sharing by SMS and accident detection, and Proteus 8 Professional simulations verify the functionality of the
system. The benefits of ESP32 are emphasized for effective, affordable safety applications. It does, however,
recommend more improvements, such as cloud-based data storage for comprehensive activity records and the
development of autonomous vehicles. For handling anomalies, the capability of remote system control over the
Internet is suggested. In the end, the study highlights the significance of ESP32 in reasonably priced car safety
systems and suggests directions for enhanced car automation and safety enhancements.
 National Student Energy Summit (NSES 2024)
Organized by Department of Electrical and Electronics Engineering
Manipal Institute of Technology, Manipal

Saurabh S. Chakole and Neema A. Ukani [7] proposed an innovative "Low Power Smart Vehicle Tracking,
Monitoring, Collision Avoidance, and Anti Theft System" for economical and energy-efficient vehicle
monitoring is presented in this paper's summary. The device uses a slide wake-up protocol to minimize power
consumption by utilizing Node MCU and sophisticated algorithms, demonstrating a forward-thinking approach
to IoT integration. Real-time tracking and monitoring are facilitated by the integration of GPS, GSM, and cloud-
based storage, while accident alert mechanisms are made possible by the inclusion of MEMS accelerometer and
ultrasonic sensor. The suggested solution showcases possible applications across multiple sectors and responds
to the growing need for safety and security in the rapidly changing technology landscape.

Aditya Reddy Lellapati et.al [8] Developed a Advanced Alerting System using Arduino interfaced with ESP32
CAM a research paper, presents a complete security solution for both indoor and outdoor implementations. The
system incorporates a camera module and Passive Infrared (PIR) sensor, utilising the Espressif ESP32 platform
to generate an advanced alarm mechanism. When the PIR sensor senses motion from an intruder, the ESP32-
CAM is activated to take pictures and save them in its SPI Flash File System. After that, the system uses an
SMTP server to send email alerts, giving property owners quick notice. The research, which emphasises
proactive security, suggests possible benefits for image processing techniques and emergency detection in larger
applications outside standard circumstances.

III. METHODOLOGY

Fig. 1: Block diagram of ESP-32 controlled circuit

Our methodology begins with the development of the motor control system for the mechanum wheels.
Through ESP32 programming, we will generate motor control signals that dictate both the direction and speed
of each wheel. This enables precise and independent wheel control for omnidirectional movement. The next step
involves interfacing with the GPS module. We will establish communication between the GPS module and the
ESP32 through UART or I2C. By parsing NMEA sentences, we will extract accurate location and navigation
data, accounting for error handling and data processing to ensure data reliability. Simultaneously, we will
develop the code necessary to operate the camera module. Configuration settings for image and video capture
will be implemented, and image processing or analysis capabilities will be integrated if required. The project
will encompass the implementation of a remote-control interface using the TTGO board. We will integrate the
joystick with the TTGO board, allowing users to remotely control the rover's movement. The communication
protocol for remote control will be specified, ensuring effective interaction with the ESP32 and mechanum
wheels from a remote device or platform.
 National Student Energy Summit (NSES 2024)
Organized by Department of Electrical and Electronics Engineering
Manipal Institute of Technology, Manipal

IV. RESULTS AND ANALYSIS

The omnidirectional smart car utilizing Mecanum wheels, joystick control via a TTGO-T display, GPS
module, and camera module showcases a sophisticated blend of mobility, user interface, and sensing
capabilities. The Mecanum wheels allow seamless movement in any direction, enabling the car to navigate
complex environments

with agility and precision. Coupled with the intuitive joystick integrated with the TTGO-T display, users can
effortlessly control the car's motion, making it accessible to a wide range of users, from hobbyists to
professionals.

The inclusion of a GPS module grants real-time location tracking, enhancing the car's functionality for
applications requiring accurate positioning, such as mapping, autonomous navigation, or fleet management.
Furthermore, the camera module adds a layer of visual feedback, offering live video feed for remote monitoring
or assisting in navigation tasks. This comprehensive integration of hardware components results in a versatile
and capable omnidirectional smart car, suitable for educational purposes, research and development, or practical
applications in robotics and automation.

V. CONCLUSION

To sum up, the creation of our omnidirectional rover project is a noteworthy accomplishment in robotics
technology. Through the integration of advanced technologies like GPS, camera module, meccanum wheels, and
remote-control interface, we have developed a robotic platform that is both versatile and adaptive, offering a
multitude of practical applications. With its omnidirectional mobility, the rover can manoeuvre through intricate
surroundings with dexterity and accuracy. Its GPS integration guarantees precise location and navigation skills,
which are crucial for tasks such as mapping and exploration. By capturing visual data in real-time, the camera
module improves the rover's surveillance and monitoring capability. Additionally, the rover's autonomy and
versatility are increased by the remote-control interface's smooth remote interaction and operation. All things
considered, our project addresses issues with mobility, navigation, and data collection while providing an
affordable and easily assimilated solution for a range of robotics applications. Our omnidirectional rover has the
potential to transform sectors including environmental monitoring, exploration, and surveillance with additional
improvements and optimisations.

ACKNOWLEDGEMENT
The satisfaction that accompanies the successful completion of any task would be incomplete without the
mention of people who made it possible and whose constant guidance and encouragement crowned our efforts
with success. We consider our privilege to express the voice of gratitude and respect to all those who guided us
and inspired us in completion of this major project.
We wish to express our gratitude to Dr. B. Sadashive Gowda, Principal, VVCE, for providing a congenial
working environment.
We are thankful to Dr. C. M. Patil, Professor and Head, Dept. of ECE, VVCE, for motivating us and allowing us
to use the logistics of the department to complete this major project successfully.
We express our sincere thanks to our guide Mrs. Bhargavi K ,Assistant Professor, Dept. of ECE VVCE,
Mysuru, for her constant co-operation, support, and valuable suggestions.
We extend our heartfelt gratitude to our major project coordinators prof. Jagadeesh B, Assistant professor, Dept
of ECE, VVCE for their timely support and motivation.
We would like to thank our parents for their constant moral support throughout the completion of this major
project.
Finally, last but not the least we would like to extend our deep sense of gratitude to our friends who always
inspired us and encouraged us throughout the completion of this major project.
 National Student Energy Summit (NSES 2024)
Organized by Department of Electrical and Electronics Engineering
Manipal Institute of Technology, Manipal

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