外观
论文arXiv 2609.360911 个月前
MagNav：面向双轮机器人的光照不变导航双核磁轨引导框架
原文链接：MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots（arXiv 2609.36091 · 发布日期：2026-09-28）
MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots
针对TWIP机器人光照敏感的自主循线问题，提出磁轨引导级联PID框架，并在强光跟踪测试中验证。
核心要点
- TWIP机器人转向与平衡耦合，红外循线易受阳光和阴影影响，可靠性多限于室内。
- 采用五通道模拟霍尔传感器阵列感知磁轨，避免光学干扰，并加入光学模块作对比。
- 控制器为级联PID：内环融合IMU保持平衡，外环依据磁传感器调节转向。
- 测试显示磁引导在超过10000 Lux强光下仍准确跟踪，光学系统精度下降并会失败。
验证范围与局限：验证范围为TWIP自平衡机器人在磁轨循线及强光条件下与光学传感器的对比测试。
英文摘要 (Abstract)
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.
作者：Arpita Kumari, Anupam Chatterjee, Richa Srivastava
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