Robots are being used more and more in today’s society. These robots need to be mobile and have a good understanding of their surroundings. This bachelor’s thesis in mechatronics aims to see how a mobile robot can be constructed, and how it can best map its surroundings. The robot was built to have three omni wheels to allow it to move freely in the plane and stepper motors to provide accurate movement. Ultrasonic sensors were placed around the robot to be used as a tool to determine its surroundings. The brain of the robot was an Arduino UNO, which with the help of an ESP-01, communicated with aserver over Wi-Fi. The server received the data from the ultrasonic senors and drew a map on a web page. Multiple test were made to evaluate the different systems. The robot moved really well and with high precision after some tweaking. The ultrasonic sensors were also very precise and the communication between the robot and the server worked very well. All the different systems were combined to make the robot move autonomously. The robot could navigate by itself and avoid obstacles. Although the mapping worked from a technical point of view, it was hard to read and could be done better. / Robotar är något som används mer och mer i dagens moderna samhälle. Dessa robotar behöver vara mobila och haen god uppfattning om miljön de befinner sig i. Detta kandidatexamensarbete inom mekatronik ska undersöka hur en mobil robot kan byggas, och hur den kan kartlägga miljönden befinner sig i. Roboten som konstruerades hade tre omnihjul för att kunna röra sig fritt längs markplanet och stegmotorer för precis drift. Ultraljudsensorer placerades runt om roboten för att ge den en uppfattning av omgivningen. Hjärnan i roboten var en Arduino UNO som med hjälp av en ESP-01 kommunicerade över Wi-Fi till en server. Servern tog emotsensordata från roboten och ritade upp det som en karta ien webbläsare. Det utfördes tester för att utvärdera de olika delsystemen. Driften på roboten fungerade utmärkt med god precisionefter några iterationer. Ultraljudsensorerna hade också godprecision och kommunikationen mellan roboten och servern fungerade mycket bra. De olika delsystemen kombinerades för att ge roboten självkörning. Roboten kunde navigera själv och undvika hinder. Trots att kartan fungeradeur ett tekniskt perspektiv så var den svårtydd och kunde förbättrats.

With the increasingly prevalent use of robots, this paper presents the design and evaluation of a multifunctional Unmanned Ground Vehicle (UGV) with an adjustable suspension system, overmolding omni-wheels, and a unique tool head pick-up mechanism. The UGV addresses current adaptability, performance, and versatility limitations across various industries, including agriculture, construction, and surveillance. The adjustable suspension system enhances the UGV's stability and adaptability on diverse terrains, and the overmolding omni-wheels improve maneuverability and durability in off-road conditions. The tool head pick-up mechanism allows for the seamless integration of various tools, enabling the UGV to perform multiple tasks without manual intervention. A comprehensive performance evaluation assessed the UGVs' versatility, load capacity, passability, and adaptability. The results indicate that the proposed UGV design successfully addresses current limitations and has the potential to revolutionize various applications in different industries. Further research and development are necessary to optimize the UGV's performance, safety, and cost-effectiveness. / Thesis / Master of Applied Science (MASc)