Autonomous 5-Channel IR Line Follower Robot
An autonomous line follower robot with a 5-channel TCRT5000 IR sensor array, L298N differential drive, and PID weighted error logic for smooth trajectory execution.
5-Channel IR sensor array & L298N chassis layout
Overview
This autonomous line follower employs a 5-sensor IR array (Far Left, Near Left, Center, Near Right, Far Right) paired with an L298N dual H-bridge motor driver. By calculating weighted spatial errors across the array (-4 to +4), the robot dynamically computes smooth differential motor speeds using a PID algorithm (BaseSpeed ± Kp×Error + Kd×ΔError). If the line is momentarily lost, an error-memory recovery loop executes sharp pivot recovery.
Highlights
- 5-Channel TCRT5000 IR sensor array with weighted error scale
- Proportional-Integral-Derivative (PID) dynamic motor control
- L298N Dual H-Bridge motor driver with PWM speed regulation
- Last-error tracking for automatic off-track pivot recovery
The Challenge
Eliminating mechanical jerks on sharp 90-degree track curves required fine-tuning the proportional (Kp=25.0) and derivative (Kd=15.0) gain parameters.
The Outcome
Achieved smooth, high-speed line tracking with zero oscillation on sharp bends, serving as a core hands-on control theory model.
Project Media & Build Gallery
[4 PHOTOS]5-Channel IR sensor array & L298N chassis layout
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