Control of Line Following for Self-Balancing Robots

초록

This paper presents the control of line following for two-wheeled self-balancing robots. For this purpose, the kinematics and dynamics of two-wheeled self-balancing robots are analyzed, and a control algorithm for balancing and line following is proposed. The developed control algorithm is implemented on a small balancing robot with two step motors, and experiments are conducted on circular and elliptic line following for the self-balancing robot. The self-balancing robot can follow an ellipse-shaped track (length 3.12 m) drawn on a white board in 5 s while maintaining a small pitch angle (less than 1 degrees). From the experimental data, the method of constructing track geometry is proposed using certain geometric analysis. The reconstructed track geometry showed a small geometric error (less than 25 mm) if robot wheel slip was small.

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