Line Follower Robot with PID Controller
An autonomous line-following robot using TCRT-5000 IR sensors and PID control, built on Arduino for robotics competitions and education.
Overview
An autonomous robot that follows a predefined line path using TCRT-5000 IR sensors and a PID (Proportional–Integral–Derivative) control algorithm. Developed in two hardware versions with increasing complexity, it was used in inter-university robotics competitions and engineering education projects at KUET.
Features
- Line following on black-on-white and white-on-black surfaces
- PID-based speed and direction control for smooth cornering
- Obstacle detection via ultrasonic sensor
- Two hardware versions: v1 (basic differential drive), v2 (with tuned PID)
Tech Stack
Arduino Uno / Mega C++ TCRT-5000 IR Sensors L298N Motor Driver Ultrasonic Sensor PID Control
Hardware
| Component | Role |
|---|---|
| Arduino Uno | Central microcontroller |
| TCRT-5000 IR sensor array (5-channel) | Line detection |
| L298N H-bridge motor driver | DC motor control |
| DC gear motors (×2) | Drive wheels |
| Ultrasonic sensor (HC-SR04) | Obstacle avoidance |
| 7.4 V LiPo battery | Power supply |
The PID gains (K_p, K_i, K_d) were manually tuned on a test track to achieve smooth, stable tracking at moderate speed. The derivative term dampens oscillations at sharp curves, while the integral term corrects accumulated line-offset error on straight sections.