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

被引：20
|
作者：
Lee, G. H. [1 ]
Jung, Seul [1 ]
机构：
[1] Chungnam Natl Univ, Intelligent Syst & Emot Engn Lab, Dept Mechatron Engn, Taejon, South Korea
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2013年 / 10卷
关键词：
Two-Wheeled Mobile Robot; Visual Servoing Control; Line Tracking; Amusement Vehicle; INVERTED PENDULUM;
D O I：
10.5772/53729
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页数：8
相关论文
共 50 条
  • [41] Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path
    Tan Lam Chung
    Trong Hieu Bui
    Tan Tien Nguyen
    Sang Bong Kim
    [J]. KSME International Journal, 2004, 18 : 1094 - 1106
  • [42] Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path
    Chung, TL
    Bui, TH
    Nguyen, TT
    Kim, SB
    [J]. KSME INTERNATIONAL JOURNAL, 2004, 18 (07): : 1094 - 1106
  • [43] Experimental Validation of an Underactuated Two-Wheeled Mobile Robot
    Oryschuk, Patrick
    Salerno, Alessio
    Al-Husseini, Abdul M.
    Angeles, Jorge
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2009, 14 (02) : 252 - 257
  • [44] Positioning of Two-Wheeled Mobile Robot to Control Wheelslip by Using the Wheel Rotate Planning Technique
    Vidhyaprakash, D.
    Karthikeyan, S.
    Periyasamy, M.
    Kalaimurugan, K.
    Navaneethasanthakumar, S.
    [J]. JOURNAL OF SCIENTIFIC & INDUSTRIAL RESEARCH, 2019, 78 (12): : 879 - 884
  • [45] Position and Attitude Control of Two-wheeled Mobile Robot using Multilayer Minimum Projection Method
    Kimura, Shunsuke
    Nakamura, Hisakazu
    Shudai, Hiroki
    Ibuki, Tastuya
    Sampei, Mitsuji
    [J]. 2017 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS (CCTA 2017), 2017, : 299 - 304
  • [46] Stability Control for Two-Wheeled Mobile Robot Using Robust Pole-Placement Method
    Amano, Yoko
    [J]. PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON INTELLIGENT TECHNOLOGIES AND ENGINEERING SYSTEMS (ICITES2013), 2014, 293 : 259 - 268
  • [47] The application of disturbance observer in two-wheeled mobile robot
    Zhou, J
    Wu, W
    Ding, B
    Zhang, ZY
    [J]. 2004 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2, 2004, : 171 - 174
  • [48] Kinematic Modeling and Trajectory Tracking of Two-Wheeled Mobile Robot Manipulators at the Acceleration Level
    Cang, Naimeng
    Li, Qu
    Shi, Kaisong
    Guo, Dongsheng
    Zhang, Zhonghao
    Shen, Yanglin
    Zhang, Xiyuan
    [J]. IEEE Access, 2024, 12 : 159138 - 159151
  • [49] Development of a two-wheeled inverted pendulum mobile robot
    Nawawi, S. W.
    Ahmad, M. N.
    Osman, J. H. S.
    [J]. 2007 5TH STUDENT CONFERENCE ON RESEARCH AND DEVELOPMENT, 2007, : 235 - 239
  • [50] Position Control of Two-Wheeled Mobile Robot via Semiconcave Function Backstepping
    Matsumoto, Ryo
    Nakamura, Hisakazu
    Satoh, Yasuyuki
    Kimura, Shunsuke
    [J]. 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), 2015, : 882 - 887
12345