Development of an Autonomous Robot for Precision Floor Marking

Abstract

The construction and facilities management sectors are increasingly adopting automation technologies to improve productivity and reduce manual labor. In parallel, decorative and informational floor-marking is widely used in indoor environments such as schools, exhibition halls, and public spaces to support organization, wayfinding, and visual communication. While robotic systems have been developed for floor and layout marking, many existing solutions rely on specialized infrastructure or offer limited flexibility in the range of patterns that can be produced. This paper presents the development of a prototype of a mobile, wheeled robot capable of autonomously executing diverse designs on surfaces such as fields and floors. The robot’s potential applications include use on indoor floors and exhibition halls. It marks the ground using a plotting pen while navigating and avoiding obstacles within its environment. Additionally, the robot can produce a range of drawings, including letters and signage, and its capabilities can be extended to create decorative patterns as well as marks for floor-based games. This robot was constructed entirely from cost-effective, commercially available components. Experimental evaluation demonstrates repeatable motion and drawing performance, with measured standard deviations of approximately 1.6 mm in forward motion and 3 mm in lateral motion during representative grid-based traversal. These results indicate that the proposed approach achieves a level of accuracy and consistency sufficient for decorative floor-marking and similar applications, without reliance on external localization infrastructure.