Effective navigation for mobile robots based on ground lines is crucial across various domains such as manufacturing automation, transportation, and healthcare. This paper introduces a novel approach wherein robots utilize lines on the ground to navigate through different positions within environments, employing a PID controller algorithm and infrared (IR) ray feedback sensor. Despite the inherent noise sensitivity of IR sensors to varying light conditions, our proposed method leverages traditional vision techniques to accurately compute angle differences of lines within the visual frame, subsequently providing error feedback for the PID controller. Experimental results demonstrate the high-performance tracking capability of the mobile robot, achieving an error control of less than 0.02 cm. Comparative analysis with IR sensors further validates the effectiveness of our proposed algorithm, showcasing its potential for enhancing mobile robot navigation systems.