Design and implementation of a digital twin for a line-follower robot

CHANDRAPPA, GIRISH (2025) Design and implementation of a digital twin for a line-follower robot. World Journal of Advanced Research and Reviews, 26 (3). pp. 941-950. ISSN 2581-9615

This project leverages a digital twin in Unity 3D to replicate and enhance the navigation capabilities of a three-wheeled line-follower robot operating on a 2-meter closed-loop track with a narrow path. The robot is equipped with two DC gear motors, a front caster, and three infrared sensors, utilizing an ESP32 for control. MATLAB facilitates communication between the digital twin and the physical robot via WiFi, employing UDP and TCP protocols, while a PID controller optimizes navigation accuracy, particularly on challenging surfaces. The line-follower serves as a case study to evaluate MATLAB’s capability in controlling digital twins, with a scalable framework adaptable to other robotic systems like robotic arms, enhancing real-time testing and analysis over WiFi. Experimental testing on a large white surface with a black path mirroring the digital twin revealed minor delays at sharp turns and slight reductions in motor efficiency. Dual-mode test runs confirmed the digital twin’s reliability in accurately replicating the robot's movements. An HTTP-based web dashboard was developed to enhance real-time monitoring, enabling seamless access to data from both models. Inspired by a vision to empower future students with a cutting-edge robotics learning environment, this project provides an integrated, open-source model and controller for hands-on exploration. By bridging theoretical learning with practical application, it contributes to scalable navigation solutions for warehouse and laboratory environments, with prospects for future enhancements