Arduino Mega 2560
The central controller coordinates sensors, motor outputs, the display, and Bluetooth commands.
Embedded systems · Team project
Robotic Vacuum Cleaner
An Arduino Mega prototype combining autonomous obstacle avoidance, Bluetooth manual control, LCD feedback, and a motor-driven suction fan.
Overview
The goal was to build a floor-cleaning robot prototype that could move through a room, detect nearby obstacles, and choose a safe direction without continuous input from the user.
The same platform can switch to manual control through a phone. This made the project a complete embedded system rather than a single-function circuit: sensing, decision-making, actuation, and feedback all had to work together.
My contribution
This was developed as a two-person team. I contributed across circuit design, wiring and soldering, component-level testing, embedded software, system integration, and technical documentation.
Working across the hardware and software boundary was the most valuable part: a sensor reading only matters when the control logic interprets it correctly and the drive electronics respond as expected.
System architecture
The Arduino Mega acts as the hub. It combines distance and edge information from three sensors, drives the motors and fan, listens for serial Bluetooth commands, and updates the LCD.
Obstacle sensing
Two TCRT5000 infrared sensors cover the sides while an HC-SR04 ultrasonic sensor measures distance ahead.
Drive and suction
L293D motor drivers control the two drive motors and the separate fan used to simulate suction.
Interface
An HC-06 module receives commands from a phone, while a 16×2 LCD reports movement and system status.
Control logic
The software separates automatic navigation from direct manual commands. That keeps the behavior understandable and makes each motion routine reusable.
- Read the ultrasonic distance ahead and the two infrared sensor states.
- Continue forward while the path is clear.
- When an obstacle is close, use the side readings to select reverse, left, or right movement.
- In manual mode, translate phone commands into forward, reverse, turn, and stop actions.
- Update the LCD so the current action and sensor-related errors remain visible.
Build and lessons
The project began with the circuit in OrCAD Capture, followed by wiring, soldering, individual component checks, and incremental integration with the Arduino code. Faulty components had to be identified and replaced during the build.
We built and programmed a working prototype with autonomous and manual control logic. COVID-era lab restrictions limited some final measurements, repairs, and full-system validation, so the result is documented as a prototype rather than a finished product.
