Implementation and control of balancing line tracer robot using vision

This paper presents the implementation and control of balancing line tracer (BLT) robot which has two wheels. The goal of BLT robot is to follow the line on the floor while maintaining balance. A camera sensor detects the line by using a camera instead of UV sensors since BLT is used in outdoor environment. The trajectory is generated and the robot is controlled to follow the line. Since BLT is required to maintain balance while following the line, robust balancing control is important. Relying upon linear controllers, BLT is controlled. The BLT robot is built and experimental studies of line following tasks are conducted.