International Journal of Robotics and Autonomous Systems ISSN: 3107-7382 (Online)

Authors: Dr. Shruti Malhotra, Ankit Sinha

Abstract: Proportional-Integral-Derivative (PID) control is widely used in mobile robotics for precise and adaptive motion control. This paper presents the fundamentals of PID control and its application to line-following mobile robots. We explore the role of each component (P, I, D), the tuning process, and real-time implementation using microcontrollers such as Arduino. Experimental results demonstrate the effectiveness of PID over simple on-off or proportional-only control. The use of PID enhances robot stability, smoothness, and error correction. This paper also compares performance across different tuning values and evaluates performance in various track conditions.

Keywords: PID Control, Mobile Robot, Line Following, Arduino, Motion Control, Tuning, Embedded Systems