Published Paper Details:

This research presents the design and implementation of a robust mobility and autonomous navigation system for a wheeled robotic platform, focusing on real-time responsiveness and stable obstacle negotiation. Traditional autonomous control systems often suffer from high latency and CPU freezing due to conventional delay-based programming. To address these limitations, this study implements a Reactive Path Planning strategy powered by a Non-Blocking State Machine architecture. By utilizing asynchronous timing control through the millis() function, the system achieves continuous sensor monitoring and parallel task execution, ensuring that the processor remains active during decision-making intervals. The navigation logic is governed by a defined State Transition Table, which facilitates seamless transitions between movement states including forward progression, emergency reversal, and directional pivoting based on immediate environmental stimuli. Experimental evaluation demonstrates that the reactive "Sense-Act" cycle significantly improves the robot's ability to navigate cluttered environments with high temporalprecision and reduced communication interruptions. The findings conclude that the integration of non-blocking control logic provides a scalable and efficient framework for autonomous mobile robots in dynamic industrial and domestic applications .