Mechatronic development of a line follower robot

This papper presents the electronic and mechanical development of a line follower robot, which is integrated by an information acquisition system with an array of sixteen QRE1113 reflective sensors, a processing system based on ATMEGA 328 microcontroller, a locomotion system by means of brushed motors, a power system by means of TB6612FNG driver and an autonomous power system by means of LiPo batteries. Finally, the integration of components, the development of algorithms and the tests carried out are presented, presenting as optimal parameters of the control system, speed of 1860 RPM, proportional constant 0.2, integral constant 0.001 and derivative constant 5, achieving a time of 10.1 seconds over the test ride.