Wayno Autonomous Robot Car
An Embedded Linux term project focused on building an autonomous robot car powered by a Raspberry Pi 4. The vehicle combines line-following functionality with obstacle detection and avoidance using ultrasonic sensors, and was designed to stop when an RGB sensor detected a red line. The system integrates PID control for precision line-tracking, multi-sensor fusion for navigation, and efficient motor control through encoders and a motor HAT. This project highlights embedded systems design, low-level programming in C, hardware-software integration, and real-time robotics problem-solving.
Project Features
Line Following with PID
Implemented PID algorithm with five line sensors for accurate line tracking and smooth turns.
Obstacle Detection & Avoidance
Integrated HC-SR04 ultrasonic sensors (front, left, right) to detect obstacles and perform avoidance maneuvers.
Power & Motor Control
Used 18650 batteries for motors and a dedicated power bank for the Raspberry Pi, with WaveShare Motor HAT for control.
Hardware-Software Integration
Combined Raspberry Pi GPIO programming, motor encoders, line sensors, and ultrasonic sensors in C with embedded Linux.
Project Info
08/2024 – 10/2024
Embedded Systems Developer
4 Members
Completed
Technologies Used
- • Raspberry Pi 4 (Main Controller)
- • TS-25GA370H-45 Motors with Encoders
- • HC-SR04 Ultrasonic Sensors
- • TCRT5000 Line Sensors
- • TCS34725 RGB Color Sensor (attempted)
- • WaveShare Motor HAT
- • C (bcm2835, pigpio, standard C libraries)
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