This project implements a line-following robot using a TurtleBot3 platform in ROS1 Noetic. The robot detects and follows a path based on the intensity values of lines on the ground, rather than relying on color segmentation.
A PID controller is implemented to minimize the error between the robot’s position and the center of the line, ensuring smoother and more stable tracking performance. The controller parameters can be tuned for different environments or simulation/real-world setups.
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Developed and tested on ROS1 Noetic
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Compatible with TurtleBot3 (simulation or real robot)
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Line detection based on intensity values
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PID control for stable and accurate path following
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Extensible for both Gazebo simulation and real-world experiments
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Educational robotics (learning PID control & sensor-based navigation)
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Autonomous ground robot navigation
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Research in low-cost perception and control for robotics
Run with:
roslaunch turtlebot3_trackline turtlebot3_world.launch
roslaunch turtlebot3_trackline turtlebot3_navigation.launch
rosrun turtlebot3_trackline trackline.py