Design of agile two-wheeled robot with machine vision

Abstract

Mobile two-wheeled self-balancing robots have been built and widely investigated since 2002 by many parties for research, leisure and commercial purposes. This paper details the design and construction of a small autonomous two-wheeled robotic platform. The robot is agile, able to navigate itself in unstructured environment with the aid of multiple on-board sensors, able to overcome small obstacles and has short and long range wireless communication capabilities. One of the highlights is the on-board single camera machine vision module, which help the robot to identify obstacles. It is hoped that this disclosure will assist other researchers working on similar projects to improve their design of such machines.