Autonomous 5-Channel IR Line Follower Robot

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