Multi-microcontroller system for Mecanum robots with gripper-shooter mechanisms

Abstract

This study presents the design and implementation of a multi-microcontroller digital control system for a Mecanum-wheeled robot with gripper and shooter mechanisms, tailored for agricultural applications. The proposed system integrates an Espressif32 master controller with Arduino Nano slave microcontrollers, enabling precise control of robot movement and functional components. Wireless control is facilitated by a PlayStation 3 controller, while Mecanum wheels ensure omnidirectional mobility in dynamic environments. Experimental results indicate a 66.67% success rate in seedling planting and an 83.33% success rate in ball collection tasks. Despite its notable performance, enhancements in sensor feedback and automation are recommended to improve efficiency. This research underscores the potential of cost-effective, multi-microcontroller systems for advancing real-time control and task execution in agricultural robotics.