This work presents the design and development of an autonomous holonomic drive robot system with object detection capability, enabling movement in all directions using computer vision and Mecanum wheels. Computer visionbased object detection allows the robot to recognize its surroundings, categorize objects, and respond promptly, while the drive system facilitates smooth movement of the robot across its entire workspace. The capabilities of the robot are further enhanced using OpenCV and YOLO technology to enable effective movement and interaction in changing environments.
Parth Sharma*, Neelu Nagpal, Neha Aggarwal
Electrical and Electronics Engineering Dept., Maharaja Agrasen Institute of Technology, Delhi
* Corresponding Author. Mob.: (+91) 7428560844, E-mail:
Abstract: This work presents the design and development of an autonomous holonomic drive robot system with object detection capability, enabling movement in all directions using computer vision and Mecanum wheels. Computer visionbased object detection allows the robot to recognize its surroundings, categorize objects, and respond promptly, while the drive system facilitates smooth movement of the robot across its entire workspace. The capabilities of the robot are further enhanced using OpenCV and YOLO technology to enable effective movement and interaction in changing environments. A two-tier control architecture integrating a Raspberry Pi Zero 2W and an ESP8266 microcontroller effectively isolates sensitive vision hardware from high-current motor components through a dedicated driver circuit. Trajectory tracking and system validation are carried out through Gazebo simulation. The result is a successfully developed autonomous robot prototype capable of navigating dynamic indoor environments without reliance on GPS infrastructure, making it well suited for a range of real-world applications.
Keywords : Autonomous Robots, Holonomic Drive, Computer Vision, OpenCV, YOLO.
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