Line follower With Sonar Sensor

Using Arduino Project Guidance
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Hello, Arduino community,

I hope everyone is doing well. I'm currently working on an Arduino-based line-following robot project, which incorporates PID control for line following. My robot is designed to handle various line conditions, including 90-degree turns, T-sections, and black-white lines.

However, I've encountered a specific challenge in my project. There may be instances where my robot encounters dead-end lines or line breaks of approximately 5 cm. To address this challenge, I've equipped my robot with three sonar sensors to detect obstacles and help it navigate these situations.

Here's a concise summary of my project:

  • I have a line-following robot with PID control for precise line tracking.
  • Three sonar sensors are mounted on the robot to detect obstacles and measure distances.
  • My primary goal is to develop an algorithm that enables my robot to effectively handle dead-end lines and line breaks, using the sonar sensors for guidance.

Here are my specific questions:

1. What algorithm or approach should I employ to allow my robot to navigate through dead-end lines or line breaks? I'm particularly interested in the logic for line break detection, obstacle avoidance, and pathfinding in these scenarios.
2. How can I seamlessly transition between line following and dead-end/line break navigation modes when the robot encounters these situations?
3. Are there any specific considerations, wiring diagrams, or code examples that would be helpful for implementing this advanced behavior with three sonar sensors?

here is a demo video :

I would greatly appreciate any insights, suggestions, or code snippets you can provide to assist me in tackling this challenge and enhancing the capabilities of my line-following robot in complex environments. Your expertise and guidance are invaluable to the success of this project.

Thank you in advance for your assistance!

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The criteria for your line define the difference between a dead end line and a line break.
( The criteria also define things like the line width and (for an optical line) reflectance.)
Generally it is that a line break resumes (ie in the same direction, or maintaining the track as eg a smooth curve) in a short (stated) distance.

So you would need to perform a lost line search a little further on.
Simply, you could add a second set of optical sensors - or even a single sensor, ahead of your main sensors.

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