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Arena Battle Robot — Sensor Fusion & Embedded Control

2023 · University of Pennsylvania · Coursework Project

ESP32 C++ Sensor Fusion Vive Tracker ToF Sensor PID Control Motor Control SolidWorks

Gallery

Arena Battle Robot Perf board Vive and ToF tracking

Overview

  • Sensor Fusion & Localization: Integrated Vive tracking and ToF distance sensors to achieve real-time localization with ±3 cm accuracy for autonomous arena navigation.
  • Embedded Control System: Programmed motor control and PID tuning on ESP32 using C++, enabling responsive maneuvering and stable closed-loop performance.
  • Mechanical Design & Fabrication: Designed the full robot chassis and modular attacking arm in SolidWorks, then fabricated using CNC machining and 3D printing for lightweight durability.
  • Hardware Integration: Assembled and prototyped electronic subsystems on a breadboard for motor drivers, power distribution, and sensor wiring validation.

Highlights

  • Fused Vive + ToF sensors for precise real-time localization (±3 cm)
  • Implemented PID motor control on ESP32 using C++
  • Designed and fabricated a durable mechanical chassis + modular arm
  • Built full prototype with breadboard-based control electronics
  • Won 1st place / 30 teams for precision, speed, and control stability in the autonomous battle challenge.