A2R3 is a modular, open-source mobile robot built on the ESP32 platform. It is a hacker’s playground for robotics, featuring Wi-Fi, Bluetooth, LiDAR, IMU, odometry, OLED + buzzer feedback, and full autonomy potential. Designed for enthusiasts, it is cost-effective and fully customizable with open-source software and affordable components.
Full documentation is available on the Hackster page.
- ESP32 Core — Wi-Fi + Bluetooth ready
- Modular Sensor System — I²C bus for expansions
- Obstacle Avoidance — VL53L0X laser distance sensor
- Motion Control — TB6612 / TMC2209 drivers
- Odometry — AS5600 encoders
- Feedback — SSD1306 OLED + buzzer
- Cooling — PWM fan control
- SLAM + ROS2 integration (coming soon)
- AI-driven behaviors (future module)
The core firmware in the A2R3 directory is fully operational. ROS2 integration with RViz visualization is available in ROS2_playgrounds. Step-by-step documentation is in progress. Future development includes Micro-ROS integration and advanced remote telemetry.
Core Drive & Obstacle Avoidance:
- Autonomous mission logic
- Remote control via PS3 pad
- ROS2 + SLAM integration (planned)
- Web Dashboard + Telemetry (beta v1.1.0 here)
- Brain: ESP32-WROOM / ESP32-S3 (slave microcontroller), SLAM via Orange Pi 3B / Raspberry Pi / other SBC
- Motor Drivers: TB6612 / TMC2209
- Sensors: MPU6050 (IMU), VL53L0X (ToF), AS5600 (encoders)
- Display: SSD1306 OLED + status LEDs
- Power: 20V Li-ion → 5V / 3.3V regulated (full BOM on Hackster page)
- Actuators: Plastic gearbox RS390, 6V DC motor (up to 10V), payload up to 15kg
- Wheels: Plastic foam tires for lightweight and durable grip
Clone the repository:
git clone https://github.com/migit/AI-Autonomous-Room-Rover-Robot-A2R3.git
cd AI-Autonomous-Room-Rover-Robot-A2R3Recommended Environment:
- OS: Linux (Ubuntu preferred) or Windows with Arduino-compatible IDE
- Software: ROS2 or Micro-ROS for Nav2 development
- Languages: C++ / Python
- ESP32 handles obstacle-avoidance logic autonomously
- Use plastic foam tires for lightweight and durable grip.
- The first build includes fully tested firmware and hardware.
- Full BOM is available on the Hackster page.
This project is certified as Open Source Hardware Association (OSHWA) and uses open-source software licenses. Refer to the Hackster page and OSHWA listing for details.