Studying the PID system by adjusting the values via Bluetooth

Abstract

This bachelor’s thesis explores the design and implementation of a line-following robot that uses a Proportional-Integral-Derivative (PID) control algorithm and supports real-time parameter tuning via Bluetooth communication. The system is built using an Arduino Uno R3 microcontroller, a QTR-MD-16A reflectance sensor array, and an Arduino Motor Shield Rev3 for motor control. The HC-06 Bluetooth module enables wireless adjustment of PID coefficients, allowing the robot to adapt to varying line patterns, surfaces, and environmental conditions without the need for reprogramming. The project emphasizes both hardware and software integration, including sensor calibration, safety mechanisms, and robust PID tuning strategies. Experimental testing confirms the robot’s ability to track lines accurately and respond dynamically to real-time tuning. This platform serves as an educational tool for exploring control systems, embedded programming, and wireless communication in robotics. Keywords: Line-following robot, PID control, Bluetooth tuning, Arduino, embedded systems, real-time control, robotics education

The main goal of this dissertation was to create and execute a line-following robot utilizing a PID (Proportional-Integral-Derivative) control algorithm to ensure precise navigation, while also integrating wireless tuning features with the use of an HC-06 Bluetooth module. To summarize, this dissertation has showcased the creation, execution, and assessment of a line-tracking robot that incorporates PID control and wireless adjustment functionalities. Through the efficient integration of hardware elements and software algorithms, the robot successfully accomplished precise line tracking, seamless motor control, and the ability to remotely fine-tune parameters. The resulting system provides a flexible foundation for investigating robotics principles and devising effective solutions for real-life scenarios. Keywords Hardware Integration PID Control Algorithm Wireless Communication Motor Control