Line tracking control of a two-wheel balancing mobile robot: Experimental studies

Abstract

This paper presents the development and control of a two-wheel mobile robot to perform a line tracking control task. The two-wheel mobile robot(TWMR) is designed and controlled to follow the line on the floor while maintaining balance. The line on the floor is captured by a camera and image processing is performed in a notebook. The desired trajectory information by detecting the line is extracted and provided to the controller for the robot to follow. Then the TWMR is commanded to follow the line. Experimental studies of following the circular trajectory and the random trajectory by the two-wheel mobile robot are conducted to confirm the control performance.