4-Wheel Fuzzy Logic Line-Following Robot (MATLAB & Arduino/ESP32)

🧩 Product Overview

Experience the next level of intelligent mobile robotics with this 4-wheel differential-drive fuzzy logic line-following robot.
This project merges MATLAB-based AI simulation, Mamdani/Sugeno fuzzy control, and real-time hardware interfacing through Arduino or ESP32.

Ideal for students, researchers, and robotics enthusiasts, this professional package demonstrates soft-computing control systems, MATLAB-Arduino communication, and autonomous navigation — all in one ready-to-run project.

🚀 Key Features

✅ 4-Wheel Differential-Drive Model — complete with realistic kinematic and dynamic equations
✅ Fuzzy Logic Controller (FIS) — human-like steering for smooth, stable line tracking
✅ Real-Time MATLAB Simulation — detailed visualization with multiple track patterns
✅ Hardware-Ready Setup — plug-and-play integration with Arduino/ESP32
✅ Adjustable Speed Modes — Normal / Fast / Turbo operation
✅ Dynamic Sensor Simulation — left, center, and right IR sensors fully modeled
✅ Collision-Free Environment — professional 2D simulation layout
✅ Comprehensive Documentation — includes modeling, equations, diagrams, and design theory

🧠 Technical Details

📦 What’s Included

💾 Software

• ✅ Complete MATLAB Simulation Code (.m + .fis)

• ✅ Hardware Integration Script (Arduino Serial Ready)

• ✅ MATLAB GUI (optional) for visual control

• ✅ Mamdani Fuzzy Logic System with editable rules

📘 Documentation

• 📄 Detailed Report (.docx ) 

💡 Learning Outcomes

🎯 Understand fuzzy logic controller design for mobile robots
🎯 Derive and apply kinematic models for differential-drive systems
🎯 Integrate MATLAB simulation with Arduino hardware
🎯 Analyze sensor feedback and control system performance
🎯 Apply MATLAB Fuzzy Logic Toolbox in real robotics projects

🔧 Hardware Integration (Optional Real-World Setup)

Required Components:

Communication Options:

• USB Serial (Default) – MATLAB ↔ Arduino communication

• Wi-Fi (ESP32) – for wireless line tracking

💻 How to Run

🧠 MATLAB Simulation

1. Open MATLAB.

2. Set working folder to project directory.

3. Run the main file:

   fuzzy_linefollower.m

4. Choose a map (circle, rectangle, maze, etc.).

5. Observe live trajectory animation, sensor states, and fuzzy control behavior.

🔌 Hardware Mode

1. Upload lineFollowerSerial.ino to Arduino/ESP32.

2. Connect sensors and motors as described in wiring guide.

3. In MATLAB, enable:

   useHardware = true; port = "COM5";

4. Run the simulation — MATLAB will send control data in real time.

📈 Simulation Outputs

📊 Trajectory Visualization – robot path vs reference
📉 Error Plots – lateral and heading deviations
⚙️ Motor Velocities – left and right wheel outputs
🧩 Fuzzy Surface View – inference map of control actions

💼 Best Suited For

🎓 Engineering Students (Robotics / Mechatronics / AI / Control)
🔬 Final Year / Research Projects
🤖 Robotics & IoT Enthusiasts
💻 Automation Startups & Institutes
🏫 Teaching & Lab Demonstrations

📞 Support & Contact

👨‍💻 Developer: EngrProgrammer
📧 Email: mrengineer294@gmail.com
📸 Instagram: @engrprogrammer2494
📺 YouTube: @engrprogrammer
🌐 Shop: https://engrprogrammer-shop.fourthwall.com

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