This repository is related to my undergraduate thesis (which we call by PG, projeto de graduação in Portuguese). I modeled a line follower robot that I developed to participate of the University Robotic Tournament (TUR). You can check this project clicking here.

Using the model, I project a PID controller and optimized it using the Differential Evolution algorithm. In addition, I also designed a Fuzzy controller to control the robot. In this thesis, I compared both controllers. Below, you can see the controllers response to the step function, which simulates the 90º turn on a track race):

The PG is available in this link, however, it's only in Brazilian-Portuguese.