Design And Construction Of A Line-Follower Robot As An Object Transfer And Color-Based Sorting System, Based On The Arduino Uno Microcontroller

This paper presents the design and testing of an Arduino Uno-based line follower robot prototype serving as an automatic material transfer and color-based sorting system. Four infrared sensors in a straddling configuration are combined with Proportional-Derivative (PD) control to maintain stable movement along the guide path. A TCS34725 color sensor classifies three test cube categories (red, green, and blue), while a two-degree-of-freedom servo gripper grips and lifts the load during delivery. The proposed 4-Phase Pivot algorithm enables the robot to complete 90-degree turns at branching intersections without relying on blind time delays. Test results show 100% color identification accuracy across six test samples, 100% turn maneuver success rate over ten repetitions per maneuver type, and a full operational cycle duration ranging from 29.6 to 35.8 seconds. The system also successfully detects an empty warehouse condition and executes an autonomous shutdown procedure.