Arduino Line Follower
2024An open-source robotics engineering guide and firmware codebase for building high-speed line-following vehicles. Includes circuit schematics, sensor array configurations, PID control algorithms, motor driver wiring, and comprehensive Sinhala/English docs.
The Arduino Line Follower project is an engineering guide and open-source codebase designed to help students construct autonomous line-tracking mobile robots. It connects theoretical robotics principles with hands-on hardware assembly.
The project covers complete robot architecture, ranging from infrared reflectance sensor arrays (5-bit, 8-bit, QTR-8RC) to dual H-bridge motor drivers (TB6612FNG, L298N). It details buck converter power regulation, chassis balancing, and analog threshold tuning.
I engineered the firmware in C++ for Arduino Nano, Uno, and ESP32 microcontrollers, implementing a PID control loop to eliminate trajectory oscillation. I authored complete bilingual documentation in English and Sinhala with circuit schematics.
Challenge
High-speed autonomous mobile robots suffer from wheel slip and oscillation around track curves. Calibrating raw analog infrared sensor values and coordinating DC motor PWM signals under varying ambient lighting and battery voltage decay required meticulous tuning.
Solution
I developed a PID-regulated motor control algorithm in C++ that continuously recalculates trajectory corrections from sensor array weights. I stabilized power through buck converters and documented step-by-step threshold calibration in English and Sinhala documentation.
Interested in something similar?
Have a project in mind or want to know more about how this was built? Drop me a message, I'd love to connect.