Design and Development of an Autonomous Guided Vehicle for Human Following Applications

This paper presents the design and implementation of a sensor-based mobile robotic system, termed the Human Following Robot, engineered to autonomously track a human or object utilizing real-time distance measurements. The system integrates an ESP32 microcontroller as the central processing unit, an ultrasonic sensor for precise proximity detection, and an L298N motor driver module to actuate DC geared motors mounted on a robust 4-wheel BO motor chassis. This configuration enables the robot to dynamically adjust its locomotion in response to the target’s position, thereby facilitating applications in smart trolley assistance, automated material transport, personal aid, and educational robotics platforms. The operational paradigm involves continuous acquisition of distance data from the ultrasonic sensor by the ESP32. This data is subsequently processed to determine the target’s relative proximity. A sophisticated control algorithm dictates the robot’s movement: it initiates a full stop when the target is within a predefined safety threshold and resumes forward motion with controlled velocity as the target’s distance increases. Power is supplied via a portable battery source, ensuring operational autonomy and practical deployment in diverse environments.