PID controller for a line following Robot by using Simulink in MATLAB

This project demonstrates a practical PID controller for a line following robot. The project was done using Simulink in MATLAB simulation software. A library called Mobile Robotics Training Toolbox was used to simulate the robot in real-time. The mission of the robot is to complete the trail by using only the PID control algorithm. The trail consists of rounded and 90 bends. The robot uses IR sensors to detect the line. There are six IR sensors located in front of the robot. These six IR sensors' arrays calculate the error of the system. The error here is, how much the robot deflects from the line. This error fed into the PID controller. According to the given P, D, I values the system outputs, how much does the robot need to turn in order to stay on the line. All the dimensions that are used in the simulation are practical values. So that, this controller can be directly implemented on a real-world robot with the same dimensions.