The first part of the project consists of a motor control enhancement of the line tracker vehicle. It is used a feed forward signal to make a first attempt to control the motors, and right after a Proportional Integral controller is implemented to adjust the response. The second part is about the wheel speed measurement system. In that section it is dealt with the encoder’s limitations and how to solve them to get an appropriate performance. The third part is addressed to the line sensor and the trajectory control. An improvement of the line sensor data acquisition is exposed and it is explained how the trajectory control operates. Apart from all the tasks done with the vehicle’s control, there is a section in which it is worked on the WiFi communication system which monitors the vehicle from a computer. It is explained how it works, how to get a suitable usage and it is shown an interface to manage and see the data transmitted. Finally it is presented an experimental test set in which it is shown how the vehicle’s behaviour is. In these tests it is determined which control parameters are the most suitable to get the best behaviour of the vehicle