Publication
PID control of autonomous lline-following robot
| Summary: | This project aims to design and build an autonomous robot capable of precisely following a line in a complex environment. The main objective is to ensure reliable and autonomous tracking of a challenging path, providing both accuracy and motion stability. The robot is based on an ESP32 platform, equipped with five TCRT5000 infrared sensors arranged in a line to detect the lateral position of the line, and Hall-effect encoders on the wheels to measure the distance traveled and map the robot’s trajectory. The kinematic modeling of the differential-drive robot was performed in MATLAB/Simulink to validate expected motions, including straight paths with different initial orientations. The control system relies on a PID controller that adjusts motor speeds based on the error between the estimated line position (calculated using a weighted average of sensor readings) and the target position (center of the line). The control loop runs every 20 ms, providing fast and stable responses to disturbances. The code is modularized into distinct parts: sensor reading, encoder handling, PID control, motor driving, and odometry, which improves maintainability and clarity. Tests demonstrate that the robot successfully completes the map with near-perfect line following, although minor inaccuracies in trajectory plotting are attributed to encoder limitations. In conclusion, the project meets its goals of precise and autonomous line following, paving the way for future improvements such as odometry error correction and advanced navigation algorithms. |
|---|---|
| Main Authors: | Mabrouk, Achref Ben |
| Subject: | Robotics Line following PID ESP32 |
| Year: | 2026 |
| Country: | Portugal |
| Document type: | master thesis |
| Access type: | open access |
| Associated institution: | Instituto Politécnico de Bragança |
| Language: | English |
| Origin: | Biblioteca Digital do IPB |
| _version_ | 1869469391034253312 |
|---|---|
| author | Mabrouk, Achref Ben |
| author_facet | Mabrouk, Achref Ben |
| author_role | author |
| contributor_name_str_mv | Gonçalves, José Biblioteca Digital do IPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Mabrouk, Achref Ben\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Gonçalves, José Biblioteca Digital do IPB |
| datacite.creators.creator.creatorName.fl_str_mv | Mabrouk, Achref Ben |
| datacite.date.Accepted.fl_str_mv | 2026-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2026-06-23T11:05:56Z |
| datacite.date.embargoed.fl_str_mv | 2026-06-23T11:05:56Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Robotics Line following PID ESP32 |
| datacite.titles.title.fl_str_mv | PID control of autonomous lline-following robot |
| dc.contributor.none.fl_str_mv | Gonçalves, José Biblioteca Digital do IPB |
| dc.creator.none.fl_str_mv | Mabrouk, Achref Ben |
| dc.date.Accepted.fl_str_mv | 2026-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2026-06-23T11:05:56Z |
| dc.date.embargoed.fl_str_mv | 2026-06-23T11:05:56Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/36924 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Robotics Line following PID ESP32 |
| dc.title.fl_str_mv | PID control of autonomous lline-following robot |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_bdcc |
| description | This project aims to design and build an autonomous robot capable of precisely following a line in a complex environment. The main objective is to ensure reliable and autonomous tracking of a challenging path, providing both accuracy and motion stability. The robot is based on an ESP32 platform, equipped with five TCRT5000 infrared sensors arranged in a line to detect the lateral position of the line, and Hall-effect encoders on the wheels to measure the distance traveled and map the robot’s trajectory. The kinematic modeling of the differential-drive robot was performed in MATLAB/Simulink to validate expected motions, including straight paths with different initial orientations. The control system relies on a PID controller that adjusts motor speeds based on the error between the estimated line position (calculated using a weighted average of sensor readings) and the target position (center of the line). The control loop runs every 20 ms, providing fast and stable responses to disturbances. The code is modularized into distinct parts: sensor reading, encoder handling, PID control, motor driving, and odometry, which improves maintainability and clarity. Tests demonstrate that the robot successfully completes the map with near-perfect line following, although minor inaccuracies in trajectory plotting are attributed to encoder limitations. In conclusion, the project meets its goals of precise and autonomous line following, paving the way for future improvements such as odometry error correction and advanced navigation algorithms. |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | masterThesis |
| fulltext.url.fl_str_mv | https://bibliotecadigital.ipb.pt/bitstreams/0518e0fa-60b3-4093-833e-e50c361ba52e/download |
| id | ipb_85409dddf791b14efed5a6ed38eabd68 |
| identifier.url.fl_str_mv | http://hdl.handle.net/10198/36924 |
| inst_facet_str | urn:organizationAcronym:ipb{{{_:::_}}}Instituto Politécnico de Bragança |
| instacron_str | ipb |
| institution | Instituto Politécnico de Bragança |
| instname_str | Instituto Politécnico de Bragança |
| language | eng |
| network_acronym_str | ipb |
| network_name_str | Biblioteca Digital do IPB |
| oai_identifier_str | oai:bibliotecadigital.ipb.pt:10198/36924 |
| organization_str_mv | urn:organizationAcronym:ipb |
| person_str_mv | Mabrouk, Achref Ben |
| publishDate | 2026 |
| repo_facet_str | urn:repositoryAcronym:ipb{{{_:::_}}}Biblioteca Digital do IPB |
| reponame_str | Biblioteca Digital do IPB |
| repository_id_str | urn:repositoryAcronym:ipb |
| service_str_mv | urn:repositoryAcronym:ipb |
| spelling | engporThis project aims to design and build an autonomous robot capable of precisely following a line in a complex environment. The main objective is to ensure reliable and autonomous tracking of a challenging path, providing both accuracy and motion stability. The robot is based on an ESP32 platform, equipped with five TCRT5000 infrared sensors arranged in a line to detect the lateral position of the line, and Hall-effect encoders on the wheels to measure the distance traveled and map the robot’s trajectory. The kinematic modeling of the differential-drive robot was performed in MATLAB/Simulink to validate expected motions, including straight paths with different initial orientations. The control system relies on a PID controller that adjusts motor speeds based on the error between the estimated line position (calculated using a weighted average of sensor readings) and the target position (center of the line). The control loop runs every 20 ms, providing fast and stable responses to disturbances. The code is modularized into distinct parts: sensor reading, encoder handling, PID control, motor driving, and odometry, which improves maintainability and clarity. Tests demonstrate that the robot successfully completes the map with near-perfect line following, although minor inaccuracies in trajectory plotting are attributed to encoder limitations. In conclusion, the project meets its goals of precise and autonomous line following, paving the way for future improvements such as odometry error correction and advanced navigation algorithms.application/pdfPID control of autonomous lline-following robotMabrouk, Achref BenGonçalves, JoséHostingInstitutionOrganizationalBiblioteca Digital do IPBe-mailmailto:dspace@ipb.ptdspace@ipb.ptURNurn:tid:2043179082026-06-23T11:05:56Z20262026-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/36924http://purl.org/coar/access_right/c_abf2open accessRoboticsLine followingPIDESP3216608816 bytesliteraturehttp://purl.org/coar/resource_type/c_bdccmaster thesis2026http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.ipb.pt/bitstreams/0518e0fa-60b3-4093-833e-e50c361ba52e/download |
| spellingShingle | PID control of autonomous lline-following robot Mabrouk, Achref Ben Robotics Line following PID ESP32 |
| status | SINGLETON |
| subject.fl_str_mv | Robotics Line following PID ESP32 |
| title | PID control of autonomous lline-following robot |
| title_full | PID control of autonomous lline-following robot |
| title_fullStr | PID control of autonomous lline-following robot |
| title_full_unstemmed | PID control of autonomous lline-following robot |
| title_short | PID control of autonomous lline-following robot |
| title_sort | PID control of autonomous lline-following robot |
| topic | Robotics Line following PID ESP32 |
| topic_facet | Robotics Line following PID ESP32 |
| url | http://hdl.handle.net/10198/36924 |
| visible | 1 |