This study presents a cost-effective differential wheeled mobile robot system designed for educational and research applications. The robot employs an ESP32 microcontroller for control and communication, integrating sensors such as ultrasonic modules, an IMU 9050, and a line-following module via the I2C protocol. PID controllers were designed and fine-tuned using MATLAB’s System Identification Toolbox to address motor asymmetries, ensuring stable and synchronized performance. A custom-built user interface developed in C# enables real-time monitoring and control via Bluetooth, allowing users to configure modes and visualize robot trajectory. The experimental setup was intentionally simple and reproducible, enabling straightforward deployment for instructional purposes. The system was validated through tasks such as line-following, obstacle avoidance, and trajectory tracking, with the latter demonstrating superior accuracy. While limitations, such as sensor inaccuracies in reflective environments and computational constraints of the ESP32, were identified, proposed future enhancements include integrating advanced sensors and machine learning algorithms. The robot’s modularity, affordability, and adaptability make it a versatile platform for introducing students to robotics and conducting foundational research in control systems.