This project implements a line-following robot using embedded systems and sensor-based navigation.
Developed as part of a team-based engineering project, the system processes real-time input from an IR sensor array to detect a path and adjusts motor behaviour accordingly. It also integrates obstacle detection and manual control, demonstrating a multi-system embedded design.
- Line following using IR sensor array
- Real-time decision logic for path tracking
- Ultrasonic obstacle detection with adaptive response
- PWM motor control for speed and direction
- Bluetooth (HC-05) manual control mode
- Simulation in Proteus and hardware implementation
The system consists of multiple subsystems working together:
- IR sensor array for line detection
- Ultrasonic sensor for obstacle detection
- Processes sensor input to determine movement
- Adjusts motor outputs based on line position
- Implements decision-based navigation logic
- PWM-controlled DC motors
- Differential drive for steering and movement
- Bluetooth (HC-05) module for manual override
- Line position is detected using IR sensors
- The system applies rule-based logic to determine direction
- Motor speeds are adjusted to maintain alignment with the path
- Obstacle detection overrides movement when necessary
- Developed and tested system logic in Proteus simulation
- Verified sensor behaviour and control response
- Iteratively refined system performance through testing
- Microcontroller (ATmega-based / Arduino)
- IR sensor array
- Ultrasonic sensor
- DC motors with driver module
- Bluetooth module (HC-05)
This project was developed as part of a collaborative team effort, involving shared responsibilities across system design, implementation, and testing.
My contributions focused on:
- Embedded system implementation and control logic
- Sensor integration and system behaviour testing
- Debugging and validating system performance
- Designing real-time embedded systems
- Working effectively in a team-based engineering environment
- Sensor integration and decision-based control
- Debugging using simulation + hardware testing
- Integrating multiple subsystems into one platform
- Implement PID control for smoother tracking
- Add sensor filtering for noise reduction
- Improve path detection for complex tracks
- Optimise motor response for better stability
Jeremy Antwi
Electrical & Electronic Engineering Student
Interested in Embedded Systems, FPGA, and Hardware Design