697.DESIGN AND PROTOTYPING OF AUTONOMOUS ROBOTIC VEHICLE FOR PATH FOLLOWING AND OBSTACLE AVOIDANCE

Authors

  • Domazetovska Simona Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Andonovska Katerina Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Mačavelovska Bojana Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Andrej Cvetanovski Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Ademi Medin Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Janevski Petar Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia
  • Pecioski Damjan Faculty of Mechanical Engineering, “Ss. Cyril and Methodius” University in Skopje, P.O.Box 464, MK-1001 Skopje, Republic of North Macedonia

Keywords:

autonomous car, Pixy2, differential control, sensor integration, PID

Abstract

This paper presents the design and implementation of a compact robotic vehicle capable of auton-omously following a predefined path through integrated sensor technologies. A Pixy2 camera detects and translates the path into vector data, enabling real-time tracking across straight and curved segments using differential steering. Motor control is achieved by modulating the speed of two DC motors via the L298N driver, guided by line position data. Communication between the camera and Arduino Uno is established through the SPI interface. An ultrasonic sensor enhances navigation by detecting and avoiding obstacles. The system halts safely at designated stop lines by setting motor PWM to zero. This project demonstrates effective hardware-software integration for autonomous navigation, combining sensor fusion, control logic, and real-time processing.
MESJ

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Published

29-12-2025

Issue

Vol. 43 No. 2 (2025): MECHANICAL ENGINEERING SCIENTIFIC JOURNAL

Section

Articles