Integrated Vision Guidance Systemand android Application to Two-Wheel Balancing Robot for Automatic Warehouse Application

Autonomous and stability driving of two-wheel type of mobile robot presently needs to be continuously studied and researched. This research aims to design and develop a two-wheel mobile robot with stability and motion controllers. The motion controller is a cascaded series of PD and PID control loops to handle the speed and tilt angle. The vision guidance system is cascaded with a proportional controller to enhance the path maneuver. Integrated IMU sensor and encoder provide the feedback signal of angle and speed while PIXY camera with lane detection provides the path direction feeding to the motion controller. A management software is developed to manage the robot logistic function along a simple warehouse site of 5 pick-up/drop-off stations. From experiments, the robot can carry a load of 1 kg following the path and stop at designated stations within the vicinity of20 cm. By the purposes of this research, the proposed system can achieve the driving and logistical management of the two-wheel robot.