Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback-Reference-Cited by-同舟云学术

Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback

Published:2013-01-01 Issue:3 Volume:10 Page:177
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Lee G. H.¹,Jung Seul¹

Affiliation:

1. Intelligent Systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University, Daejeon, Korea

Abstract

This article presents the development and control of a two-wheeled mobile robot as the base of a human carrier for an amusement/transportation vehicle. The robot has a combined structure of two systems: a line tracking mobile robot and an inverted pendulum system that maintains balance while following a line on the floor. The mobile robot is purposely designed to carry a human operator or humanoid arms. The robot has the capability to follow the line on the floor using visual feedback, as well as maintaining its balance on two wheels. A visual servoing technique allows the robot to follow the line on the floor captured by a camera as the desired trajectory. Controllers are designed to have good line tracking and balancing performance using sensor fusion techniques. Experimental studies involving the robot following a line demonstrate the feasibility of it being an amusement vehicle.

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.5772/53729

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