Vision-Based Line-Following Control of a Two-Wheel Self-Balancing Robot

This paper presents a vision-based two-wheel self-balancing (TWSB) robot to follow a black line using visual feedback. We use MATLAB software to connect to the URL of IP camera and use image processing toolbox to process the image from the IP camera. After image processing, this paper sets 10 coordinates to detect if the black line is straight or the black line is in different kind of situation. This paper considers the black line including straight line, curve line, intersection and inconsecutive line. Thus, a cascade intelligent motion control system is proposed to control the balancing and moment of the vision-based TWSB robot with tracking the position and direction commands from MATLAB software. Finally, it shows that the vision-based TWSB robot can trace the black line on the map very well from the real-time experimental results.