Autonomous Campus Delivery Robot Using Unitree Go2 Quadruped

2d Lidar (LD20)

Esp32 DevKit V1

Imu sensor (Bosch BNO055)

GPS (NEO-6M)

Ultrasonic (HC-SR04)

<html><body>Overview This project presents an autonomous campus delivery robot built on the Unitree Go2 quadruped platform, developed by a six-member student team at Deggendorf Institute of Technology (DIT). The robot navigates autonomously between campus buildings — from the open area (Open Sea) through narrow corridors to the H-Building — carrying out a delivery mission without human intervention. <a href="https://youtu.be/SBgfpNz2N4g?si=WdrM_faaVyCDK5Wr">[VIDEO_LINK] </a><a href="https://youtu.be/SBgfpNz2N4g?si=WdrM_faaVyCDK5Wr">https://youtu.be/SBgfpNz2N4g?si=WdrM_faaVyCDK5Wr </a> Hardware The robot is controlled by a single ESP32 DEV module that handles all sensor processing, navigation logic, and motor commands in real time. The following components are used: Unitree Go2 quadruped robot ESP32 DEV Module Bosch BNO055 IMU — heading and orientation youyeetoo LD20 2D LiDAR — wall detection and alignment 4× HC-SR04 Ultrasonic Sensors — front, rear, left, right NEO-6M GPS Module — outdoor waypoint navigation <pre>	Skematic_Diagram: </pre><figure><img src="https://projects.arduinocontent.cc/37e0f079-aacc-4fb9-a088-422f111a7232.jpg"/><figcaption></figcaption></figure> Software &amp; Navigation The entire navigation logic runs as a finite state machine (FSM) implemented in Arduino C++ on the ESP32. The FSM is divided into distinct navigation phases representing the physical zones of the campus route: PTH_IDLE — system boot and initialization PTH_STAND_UP — robot stands up and prepares PTH_TO_D — navigates toward D-Building using IMU heading and ultrasonic obstacle avoidance PTH_D_TO_CANAL — wall-following along the right wall toward the canal passage PTH_THROUGH_CANAL — navigates through the narrow canal corridor PTH_CANAL_TO_K — exits the canal and moves toward K-Building PTH_K_TO_H — wall-following along the left wall toward H-Building PTH_H_TO_POLE — final approach to the delivery pole PTH_LAY_DOWN — robot lays down to complete the delivery Wall Following A dedicated wall-following FSM runs in parallel, using ultrasonic sensor readings to keep the robot at a target distance from either the left or right wall. It adjusts the robot's lateral position by issuing step left or step right commands with a configurable tolerance band. cppvoid wallFollowingFSM(int side, int targetDistance, int kwfTolerance = 30) { // side: 1 = left, 2 = right // Measures current distance and steps toward or away from wall } LiDAR Integration The LD20 LiDAR is used for wall and corner detection rather than full scan matching. It detects front walls, front-right walls, front-left walls, and right walls to assist the FSM in making turn decisions at key navigation points. Web HMI A web-based dashboard (WebHMI) runs on the ESP32 and allows the operator to: Start the navigation mission Stop navigation at any time Calibrate the IMU Monitor real-time sensor values (yaw, ultrasonic distances, GPS coordinates, FSM state) Results The robot successfully completed the full autonomous navigation route from the open campus area to the H-Building delivery point in test runs at DIT. Wall-following tolerances were maintained within specification, and the FSM handled obstacle avoidance reliably across multiple test runs. The complete mission averaged approximately 10.5 minutes with zero collisions. </body></html>

Autonomous Campus Delivery Robot Using Unitree Go2 Quadruped

An autonomous campus delivery robot built on the Unitree Go2 quadruped, using ESP32-based sensor fusion (GPS, LiDAR, IMU, ultrasonic) for real-world navigation and obstacle avoidance.