🤖 TITUS WROVER ESP32-Based Line Follower Robot with Real-Time PID Web Tuning
📌 Project Overview
TITUS WROVER is an autonomous line-following robot built using an ESP32 WROVER module. The robot follows a black line using an 8-channel IR sensor array and a PID control algorithm to achieve smooth and stable motion.
A key highlight of this project is a Wi-Fi-based web dashboard that allows real-time tuning of PID parameters and motor speed without reflashing the firmware. This project demonstrates the practical integration of embedded systems, control theory, robotics, and IoT.
🚀 Features
Autonomous black line following
PID-based motor control
Real-time PID tuning via Wi-Fi
ESP32 running as a Wi-Fi Access Point
Mobile-friendly web dashboard
Start and Stop motor control from browser
Automatic line-loss detection and recovery
Differential drive control using PWM
🌐 Web Application Explanation
The ESP32 hosts a lightweight web application that can be accessed through a browser.
🔹 How It Works
ESP32 creates a Wi-Fi Access Point
User connects using a mobile phone or laptop
A web dashboard allows live parameter tuning
🔹 Web Dashboard Controls
Base Speed – Sets the nominal motor speed
Kp (Proportional Gain) – Controls immediate response to error
Ki (Integral Gain) – Reduces steady-state error
Kd (Derivative Gain) – Stabilizes motion and reduces oscillation
START Button – Enables robot motion and resets PID states
STOP Button – Immediately stops motors for safety
Changes take effect instantly, enabling real-time PID optimization.
⚙️ System Architecture
The system follows a closed-loop control structure:
IR sensor array detects the position of the line
ESP32 computes the position error
PID controller calculates correction value
Motor driver adjusts left and right motor speeds
Robot continuously corrects its path
This architecture ensures smooth tracking and stability even at higher speeds.
🧩 Hardware Used
ESP32 WROVER Module
SmartElex RLS-08 Line Sensor Array
L298N Dual H-Bridge Motor Driver
N20 6V 60 RPM Micro Metal Gear DC Motors (2 Nos.)
43 mm Rubber Wheel Tyres
Ball Caster Wheel
2200 mAh Battery Pack
XT60 Connector
3D Printed Chassis
Jumper Wires and Perfboard
🛠 Skills Demonstrated Embedded Systems
ESP32 GPIO and PWM (LEDC)
Real-time control loops
Wi-Fi Access Point configuration
Control Systems
PID controller design and tuning
Error modeling and scaling
Stability vs responsiveness optimization
Robotics
Differential drive control
Sensor placement and alignment
Line-loss recovery logic
Software & Web
Async web server on ESP32
HTTP-based parameter control
Embedded UI design
Hardware
PCB soldering and wiring
Power distribution and current handling
Mechanical assembly and balance
🏁 Outcome
Achieved smooth and stable line tracking
Enabled fast PID tuning during real-world testing
Improved reliability through automatic line-loss recovery
Successfully integrated hardware, software, and web control into one system
🔮 Future Scope
The project can be extended by integrating a Raspberry Pi 5 to run ROS, enabling higher-level control and modular software architecture. The robot can be connected to a laptop for development and debugging, along with a USB or CSI webcam to implement computer vision capabilities. Using ArUco marker–based visual detection, the system can learn visual localization and perception, paving the way for vision-guided navigation and advanced autonomous behaviors.