Line Follower Robot using STM32F411

This project is a high-speed, high-accuracy line follower robot based on the STM32F411 microcontroller. The robot utilizes an LSA08 sensor for line detection via UART communication and is driven by two N20 300RPM motors controlled through an MDD3A motor driver. A PID control algorithm is implemented to achieve precise and efficient line tracking.

Control Algorithm:

PID (Proportional-Integral-Derivative) for High-Speed and Accurate Line Following

Hardware Components

1. STM32F411 Development Board - Controls the entire system
2. LSA08 Line Sensor Module - Detects the line and provides positional data over UART
3. N20 300RPM Motors - Provides motion to the robot
4. MDD3A Motor Driver - Controls the motor speed and direction
5. Power Supply - 3S 11.1V Lipo battery
6. Custom designed PCB

Software Implementation

The firmware is written in C using the STM32 HAL (Hardware Abstraction Layer) libraries. The main features include:

• UART Communication: To receive data from the LSA08 sensor
• PID Control: Fine-tuned for optimal performance to minimize error and achieve stable tracking
• PWM Motor Control: Speed adjustments based on sensor feedback

Future Improvements

• Adding an IMU sensor for better stability
• Wireless communication for remote monitoring

Acknowledgments

Special thanks to Team Robomanipal, MIT, Manipal for their valuable support and resources.