Linetracer
Autonomous line-following robot using ATmega128, IR sensors, and PD control.
Overview
An embedded systems project implementing an autonomous line-following robot.
Method
- MCU: ATmega128
- Sensing: 8-channel IR sensor array (ADC values normalized)
- Control: PD control (Kp=0.43, Kd=0.4) for smooth line tracking
- Actuation: Differential PWM motor control
- Calibration mode + active line-tracking mode