Robot navigation by line following The robot was capable of navigating on the grid by use of line following. Identification of grid points was also done by this line sensor. A line following PID algorithm was used to control the robot movement. Robot navigation by Wall following To perform wall following a short range (4cm-40cm) sharp IR sensor was used. Primarily the sensor output had to be linearised. Then a the movement of the robot was controlled according to a PID algorithm. Object grabbing and unloading First the object was tightly gripped while on the surface by a servo and then it was lifted up by another servo motor. While unloading the object into the well the object gripping arm was tilted for an angle of about 10 degrees, and then the grip was released.