An Experiential Learning Framework for Mobile Robot Control Education Using PID-Based Path Tracking
DOI:
https://doi.org/10.59097/jasae.v4i1.89Keywords:
PID Controller, Mobile Robot, Path Tracking, Experiential Learning, Mechatronics Education, Control Systems, Line Following RobotAbstract
Mobile robot path tracking is a fundamental problem in control systems and robotics and has been widely utilized as a platform for integrating multidisciplinary concepts in mechatronics education. This study proposes an experiential learning framework for mobile robot control using a PID-based path tracking approach. The framework integrates theoretical control principles with hands-on implementation through the development of a differential-drive mobile robot equipped with reflective sensor arrays and a microcontroller-based control unit. The PID controller is applied to regulate robot motion based on real-time feedback, and its parameters (Kp, Ki, Kd) are tuned experimentally using a structured trial-and-error procedure. Experimental results indicate that the PID controller improves tracking stability and reduces oscillatory behavior compared to proportional-only control. The optimal parameter configuration (Kp=0.8, Kd=0.32, Ki=0.2) achieves stable tracking performance across different trajectory conditions, including curved paths. From an educational perspective, the proposed framework supports experiential and project-based learning by enabling systematic analysis of control system behavior through iterative experimentation. This work provides a practical and scalable approach for integrating control theory and robotic implementation in mechatronics education.
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Copyright (c) 2026 Rifki Muhida, Riza Muhida, Erry Y. T. Adesta, Muhammad Riza, Ari Legowo
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