Year: 2025
Type: article
Abstract: Existing line-following robotic systems, such as Pololu boards, are constrained by static thresholding algorithms, limited adaptability to dynamic environments, and high costs. To address these limitations, this paper proposes a compact, low-cost printed circuit board (PCB) designed for robust line tracking in educational and industrial applications. The system integrates an array of QRE1113GR infrared (IR) sensors, an adaptive threshold-based signal processing algorithm, and an Arduino Nano microcontroller to achieve stability under variable lighting (100–500 lux) and uneven terrain. Key hardware innovations include a two-layer PCB layout with segregated analog and digital components to minimize noise, MOSFET-based motor drivers for efficient power distribution, and a voltage regulation circuit using AMS1117 and decoupling capacitors. Experimental validation demonstrates a 95%-line detection accuracy on white surfaces, a 50 ms sensor-to-motor response latency, and a 50% reduction in power consumption (120 mA at 5V) compared to commercial alternatives. The design achieves a material cost of USD 18 and dimensions of 60.2 mm × 24.7 mm, enabling portability for small-scale robotics. The primary contributions of this work are: 1) a dynamic thresholding algorithm empirically optimized for environmental adaptability, 2) a modular, open-source hardware architecture, and 3) a comparative analysis quantifying performance improvement over a fixed-threshold system. Future research will focus on integrating machine learning for real-time terrain classification and expanding wireless communication capabilities.
Author: Erfan Sotoodeh Nia Korrani
Institution: Sirjan University of Technology
Language: English
Topic: Arduino and IoT Applications
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W4413222783