Smartphone IMU-driven human-following robot with ESP32 threshold navigation

Satyam Sinha, Tejashwini A G

Abstract


This paper presents a cost-effective human-following robot utilizing ESP32 microcontroller and smartphone IMU sensor integration via Bluetooth communication.[1] The system employs accelerometer-based step detection and compass-derived azimuth data, eliminating the need for expensive LiDAR or thermal imaging sensors. Key technical contributions include a 30° azimuth threshold turning algorithm with step-synchronized forward movement, enabling reliable person-following within 10-meter range. Implementation demonstrates 6+ hours battery life using standard USB power bank and achieves 95% following accuracy across straight paths and turns. Targeting elderly assistance and warehouse applications, our pragmatic design leverages ubiquitous smartphone sensors with complete hardware-software validation. The paper details system architecture, navigation algorithms, performance testing, and practical deployment considerations for assistive robotics applications.

Keywords: human-following robot, ESP32, Bluetooth navigation, assistive robotics, smartphone IMU sensors, azimuth, human gait

 

Received: 21 March 2026

Accepted: 12 May 2026

Published: 21 May 2026


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References


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DOI: https://dx.doi.org/10.21622/RIMC.2026.03.1.2024

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Copyright (c) 2026 Satyam Sinha, Tejashwini A G

Robotics : Integration, Manufacturing and Control

E-ISSN: 3009-7967

P-ISSN: 3009-6987

 

Published by:

Academy Publishing Center (APC)

Arab Academy for Science, Technology and Maritime Transport (AASTMT)

Alexandria, Egypt

rimc@aast.edu