Design and Implementation of an Autonomous Lane-Change Robotic Vehicle Using IR Line Sensing, Ultrasonic Obstacle Detection, and Gyroscope-Guided Turning

This technical report presents the design, implementation, and experimental validation of a low-cost autonomous ground vehicle capable of following a marked path and autonomously changing lanes to bypass a physical obstacle. The vehicle is built around an ESP32-WROOM microcontroller and integrates a five-channel infrared reflectance sensor array for line tracking, an HC-SR04 ultrasonic sensor for forward obstacle detection, and an MPU6050 inertial measurement unit for gyroscope-integrated ±90° turning.

When an obstacle is detected, the vehicle performs a deterministic lane-change sequence consisting of stopping, executing a gyro-verified 90° turn, crossing to a physically separate adjacent lane, executing a second gyro-verified turn, searching for the new line, and resuming autonomous line following.

The report documents the hardware architecture, electrical interfacing, embedded software, control methodology, power system, autonomous lane-change algorithm, experimental setup, observed behavior, limitations, and proposed future improvements. The prototype is an ADAS-inspired robotics platform intended for controlled-environment experimentation and is not presented as a road-certified automotive ADAS