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Lately, mobile robots are gaining significant attention in the scientific community due to their diverse applications. Testing and debugging the hardware and software of a mobile robot equipped with several sensors, motors, and actuators is a challenging task, especially if that needs to perform often. An onboard Human-Machine Interface (HMI) provides easy access for the user to operate the robot. It also allows the developer to check and troubleshoot the robot on board without connecting it to a computer. This paper presents a complete hardware and software design of an onboard HMI for a mobile robot. The HMI hardware has Arduino compatible pin layout perfectly suitable for the Uno or Mega variants-based mobile robots. A user-friendly menu-driven program allows users to check the working of various sensors and actuators. It also provides an interactive way to examine the robot's behavior by giving external inputs. An in-house wheeled mobile robot (WMR) assesses the effectiveness of the designed HMI. Results show that the proposed HMI design makes the testing, calibration and troubleshooting of hardware and software of a mobile robot a hassle-free experience, thereby reducing the overall development life cycle.
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Deshmukh et al. (2024) studied this question.
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