Next-Generation IoT-Enabled Autonomous Floor Cleaning Robot with Real-Time Web Control

Abstract DuoClean is a smart, autonomous, Wi-Fi-controlled floor cleaning robot designed to ad- dress the challenges of manual cleaning in modern indoor environments. It combines au- tonomous navigation and manual control using a web-based interface. Built around the ESP32 microcontroller, the robot leverages ultrasonic sensors for real-time obstacle detec- tion and a dual H-bridge motor driver for smooth locomotion. Its design supports dual- mode cleaning—both wet and dry—featuring vacuum suction and a water pump for mop- ping. The Wi-Fi interface enables users to control and monitor the robot remotely using a browser on any connected device. The firmware is written using the Arduino IDE and incorporates real-time decision-making algorithms. Testing results show a 90% success rate in obstacle avoidance and a command response latency of under 200 milliseconds. This paper presents the system design, hardware-software integration, testing outcomes, and future enhancements including AI-based path planning, voice control, and mobile app connectivity. DuoClean proves to be an affordable and scalable solution, making advanced robotic cleaning accessible to a broader audience. Key Words: Autonomous Robot, ESP32, Floor Cleaning, Obstacle Detection, Wi-Fi Control, Ultrasonic Sensor.