Design and Implementation of an Autonomous Service Robot for Intelligent Visitor Guidance on University Campuses

Marcelo Flores Montoya M.; Daniel Vera Contreras E.; Santiago Oviedo Robles M.; Jaime Quispe Ccachuco M.; Pio Castillo Cáceres C.; Guillermo Collado Oporto C.; Carlos Hihuaña Hallasi J. · Proceedings of the LACCEI international Multi-conference for Engineering, Education and Technology (2026) · DOI: 10.18687/laccei2026.1.1.1525

Resumen

This research and engineering project details the design, implementation, and validation of an autonomous service robot aimed at the intelligent orientation of visitors, students, and administrative staff within the university campuses. The initiative arises in response to the complexity of the campus architectural layout, seeking to optimize travel times and project an image of institutional technological innovation. The system is based on a hierarchical control architecture, where an ESP32 microcontroller acts as the master unit and web server, managing the user interface and high-level logic, while a secondary unit executes the closed-loop control of the actuators. Mechanically, the robot features a robust Direct Drive design powered by high-torque motors (wiper type) coupled to A36 steel shafts in a cantilever configuration. This design was validated through finite element analysis and stress calculations (Von Mises) to support an operating load of up to 20 kg with a safety factor greater than 3.0. For navigation, a hybrid trajectory recording and playback algorithm was implemented. The system utilizes a QMC5883L magnetometer with PID control for real-time heading correction, ensuring precise rectilinear movements. Operational safety is guaranteed by a TFmini-S LiDAR sensor, programmed to halt movement and pause route timers upon detection of dynamic obstacles (people or objects) within 1.5 meters. Additionally, a NEO-M8N GPS module is integrated to act as an end-point validation system (Checkpoints), confirming arrival at specific pavilions through geolocation. Human-Machine Interaction (HMI) is conducted through a progressive web interface hosted in the robot's memory, accessible via its own Wi-Fi network (Access Point mode), thereby eliminating dependence on external network infrastructure. This interface includes auditory feedback (Text-to-Speech) to guide the user and provide alerts regarding movement status. Experimental results demonstrate that the prototype achieves stable navigation, effective obstacle avoidance, and intuitive interaction, meeting the safety and functionality standards required for an academic environment.

Instituciones: Universidad Católica de Santa María