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

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

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 followi...

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Bibliographic Details
Main Authors: G. H. Lee, Seul Jung
Format: Article
Language:English
Published: SAGE Publishing 2013-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/53729
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spelling doaj-bd66d21b51e749acbf914c7124e6f6be2020-11-25T03:06:44ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5372910.5772_53729Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual FeedbackG. H. Lee0Seul Jung1 Intelligent Systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University, Daejeon, Korea Intelligent Systems and Emotional Engineering Laboratory, Department of Mechatronics Engineering, Chungnam National University, Daejeon, KoreaThis 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.https://doi.org/10.5772/53729
collection DOAJ
language English
format Article
sources DOAJ
author G. H. Lee
Seul Jung
spellingShingle G. H. Lee
Seul Jung
Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
International Journal of Advanced Robotic Systems
author_facet G. H. Lee
Seul Jung
author_sort G. H. Lee
title Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
title_short Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
title_full Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
title_fullStr Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
title_full_unstemmed Line Tracking Control of a Two-Wheeled Mobile Robot Using Visual Feedback
title_sort line tracking control of a two-wheeled mobile robot using visual feedback
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-03-01
description 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.
url https://doi.org/10.5772/53729
work_keys_str_mv AT ghlee linetrackingcontrolofatwowheeledmobilerobotusingvisualfeedback
AT seuljung linetrackingcontrolofatwowheeledmobilerobotusingvisualfeedback
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