发表机构
Krishna Institute of Engineering & Technology (KIET)（克里希纳工程技术学院（KIET））
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出MagNav框架，利用五通道霍尔传感器和级联PID控制，实现两轮自平衡机器人在强光下稳定循线，解决光学导航的光照依赖问题。
AI 中文摘要
两轮倒立摆（TWIP）机器人对于研究如何控制天然不稳定且执行器数量少于自由度的系统非常有用。为这些机器人添加自主循线功能具有挑战性，因为转向和平衡紧密相关。大多数现有系统使用红外传感器，这些传感器可能受到光照变化（如阳光或阴影）的影响，使其仅在室内可靠。本文提出了一种使用磁轨道引导系统的自平衡机器人，能够循线行驶。通过使用五通道模拟霍尔效应传感器阵列，该机器人不受光学干扰的影响。控制系统采用级联PID结构：内环利用惯性测量单元（IMU）数据并通过互补滤波器保持机器人平衡，而外环根据磁传感器读数调整转向。步进电机提供精确的扭矩控制，无需额外的旋转编码器。为进行比较，还集成了一个光学传感器模块。测试表明，即使在超过10,000勒克斯的非常明亮光照下，磁引导系统也能保持精确跟踪，而光学系统会失去精度并有时失效。该设计为工厂、仓库和室外路径等场所的自主导航提供了一种可靠、与光照无关的解决方案。
英文摘要
Two-Wheeled Inverted Pendulum (TWIP) robots are useful for studying how to control systems that are naturally unstable and have fewer actuators than degrees of freedom. Adding autonomous line-following to these robots is challenging because steering and balancing are closely linked. Most existing systems use infrared sensors, which can be affected by changes in lighting, such as sunlight or shadows, making them reliable only indoors. This paper presents a self-balancing robot that can follow a line using a magnetic track guidance system. By using a five-channel analog Hall-effect sensor array, the robot is not affected by optical interference. The control system uses a cascaded PID structure: the inner loop keeps the robot balanced using data from an inertial measurement unit with a complementary filter, while the outer loop adjusts steering based on the magnetic sensor readings. Stepper motors provide precise torque control without needing extra rotary encoders. For comparison, an optical sensor module was also included. Tests show that the magnetic guidance system keeps accurate tracking even in very bright lighting, over 10,000 Lux, while the optical system loses accuracy and sometimes fails. This design provides a reliable, lighting-independent solution for autonomous navigation in places like factories, warehouses, and outdoor paths.
Comments6 pages, 10 figures, 1 table. Accepted for presentation at the 2026 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies (INSPECT), organized by Indian Institute of Technology (IIT) Patna
