Setiawan, Arianto and Rusyadi, Rusman and Sinaga, Maralo (2015) Developing Two-Wheeled Inverted Pendulum Robot with Vision Based Navigation and Obstacle Avoidance Algorithm. Bachelor thesis, Swiss German University.

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Abstract

The main purpose of this thesis project is to develop computer vision based navigation for the two-wheeled, inverted pendulum robot, that will enable the robot to detect corridor, recognize the obstacle ahead, and avoid the obstacle. The navigation system, however, is best implemented in an indoor environment. Vanishing point, which is produced by the corridor detection algorithm is used as a guidance point for the robot navigation. Ping sensor and camera based vision will support each other to provide a reliable data for the Obstacle avoidance algorithm. The balancing system is also modified in order to be compatible with the navigation algorithm. The secondary purpose of the thesis is also to establish continuous communication between mini-PC, master microcontroller, and slave microcontroller. This continuous communication, plays an important part in the two wheeled, inverted pendulum robot system, in order for the system to be able to pass the right data at the right times without interfering with its balancing system. Some experiment also conducted on the system in order for the robot to be able to use different IMU.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Two wheeled Inverted Pendulum Robot; Master and Slave; Computer Vision; Corridor Detection; Object Detection; Distance Detection; Obstacle Avoidance.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	17 Nov 2020 14:11
Last Modified:	17 Nov 2020 14:11
URI:	http://repository.sgu.ac.id/id/eprint/1447

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