Real-time robots are quite common in our daily life. These robots are working as a part of the process in industry or a medical assistance in hospitals to serve humanity. Designing the robots according to the desired referent and making the given tasks with high accuracy makes them more and more popular in these days. In this work, the designed two-wheeled balancing robots with integrated camera track object autonomously. This work has two important stages. The first stage is about balancing the robot with the angle information taken from IMU sensor and implementation of PID control. IMU sensors create lots of noisy signals because of its natural structures. Kalman filter was used to denoise these noisy signals to have a smooth signal for a better balance control. The second stage is about image processing and objects recognition. This section was completed by using Matlab Image Processing Toolbox which can be used Arduino microcontroller board synchronously. In this section, algorithm infers motion information of objects. Motors were controlled according to motion information of moving objects. In the end, an object tracker self-balance robot was constructed. Balance control of the robot was managed by PID controller and accelerometer signals were denoised by a Kalman Filter. It was clarified that using PID controller and Kalman Filter together have a positive effect to balance the robot on the desired angle.
Y. Ding, J. Gafford, and M. Kunio, "Modeling, Simulation and Fabrication of a Balancing Robot", Advanced Dynamics and Control, vol. 151, p. 22, 2012.
A. Fakharian, T. Gustafsson, and M. Mehrfam, "Adaptive Kalman filtering based navigation: An IMU/GPS integration approach", IEEE International Conference on Networking, Sensing and Control, 11-13 April, Delft, Netherlands, pp. 181-185, (2011).
R. C. Ooi, "Balancing a two-wheeled autonomous robot", Final Year Thesis, School of Mechanical Engineering, University of Western Australia, vol. 3, 2003.
A. Castro, "Modeling and dynamic analysis of a two-wheeled inverted-pendulum", Master Thesis, Mechanical Engineering, Georgia Institute of Technology, Georgia, 2012.
A. Gani, E. Kılıç, Ö. F. Keçecioğlu, H. Açıkgöz, And M. Şekkeli, "PID And Fuzzy Logic Controller Design For The Level And Temperature Control Of Mixing Tank Used In Industrial Applications", Engineer & the Machinery Magazine, vol.57, no. 675, pp. 41-48, 2016.
H. Açıkgöz, Ö. F. Keçecioğlu, M. Güneş, and M. Şekkeli," Simulation Study of Hydraulic Turbine by Using Self-Tuning Fuzzy PID Controller", Academic Platform-Journal of Engineering and Science, vol. 3, no. 1, pp. 7-15, 2015.
A. Gani, O. F. Kececioglu, H. Acikgoz, and M. Sekkeli,"Fuzzy Logic Controller Design Based On Sugeno Inference Method For Nonlinear Inverted Pendulum Dynamical System", Sigma Journal Of Engineering And Natural Sciences-Sigma, Vol. 8, No. 1, Pp. 19-30, 2017
C. Sundin and F. Thorstenson, "Autonomous balancing robot: Design and construction of a balancing robot", Master Thesis, Mechanical Engineering Chalmers University Of Technology, Goteborg, Sweden, 2012.
S. A. Junoh, "Two-wheeled balancing robot controller designed using PID", Master Thesis, Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia, 2015
M. A. Şen, "Design And Optimisation Of A Fuzzy Logic Based Controller For A Two-Wheeled Robot By Using The Bees Algorithm", Master Thesis, Institution of Science and Technology, Selcuk University, Konya, 2014
A. Ünlütürk, U. Güner, And Ö. Aydoğdu," A New PI-V Type Controller Design and Its Application on Balance Robot",TOK Conference, (September 11-13, Kocaeli, Turkey) pp. 578-582, (2014).
H.-C. Sung, "Balancing Robot Control and Implementation", Master Thesis, Department of Mechanical Engineering Texas A&M University, 2015
H. Guducu, "Building Detection from Satellite Images Using Shadow and Color Information", Master Thesis, Electrical And Electronics Engineering Natural And Applied Sciences Of Middle East Technical University, Texas, 2008.
S. Balasubramanian and M. N. Lathiff, "Self balancing robot", Undergraduate Thesis, Engineering Physics Project Laboratory, The University Of British Columbia, Vancouver, 2011.
O. Enginoğlu, "Design and control of balancing robot", Master Thesis, DEÜ Institue of Scince and Engineering, 2012.
J. L. C. Miranda, "Application of Kalman Filtering and PID Control for Direct Inverted Pendelum Control", Master Thesis, Electrical and Computer Engineering, California State University, California, 2010
M. S. Uzuner, N. Yilmaz, And M. Bayrak, "A Real-Time Tracking Application Of Different Coloured Objects with A Vision Based Mobile Robot", Journal of Engineering and Architecture of Gazi University, Vol. 25, No. 4, 2010
S. Dutta and B. B. Chaudhuri, "A color edge detection algorithm in RGB color space", International Conference on, IEEE Advances in Recent Technologies in Communication and Computing, 27-28 October, Kottayam-India, pp. 337-340, (2009).
V. Kravtchenko, "Tracking color objects in real time", Master of Science, Computer Science, University of British Columbia, Vancouver, 1999
T. Şentürk, "Real Time Object Tracking with Moving Camera", Master of Science, Computer Science, Institue of Scince and Engineering YTU, Istanbul, 2008.
H. Takemura, K. Ito, and H. Mizoguchi, "Person following mobile robot under varying illumination based on distance and color information", IEEE International Conference on Robotics and Biomimetics, 15-18 December, Sanya-China, pp.1500-1505, (2007).
M. S. Uzer, " A Tracking Application of Different Coloured Targets With A Vision Based Mobile Robot", Master Thesis, Institue of Scince and Engineering Selcuk University, Konya, 2008.
B. Karasulu, "Review and evaluation of well-known methods for moving object detection and tracking in videos", Journal of aeronautics and space technologies, vol. 4, no. 4, pp. 11-22, 2010.
T. Gevers and A. W. Smeulders, "Color-based object recognition", Pattern recognition, vol. 32, no. 3, pp. 453-464, 1999.
Y. Çelik, M. Altun, and M. Güneş, "Color based moving object tracking with an active camera using motion information", Artificial Intelligence and Data Processing Symposium (IDAP), 16-17 September, Malatya-Turkey, pp. 1-4, (2017).
M. F. Aslan, A. Durdu, and K. Sabanci, "Shopping Robot That Make Real Time Color Tracking Using Image Processing Techniques", International Journal of Applied Mathematics, Electronics and Computers, vol. 5, no. 3, pp. 62-66, 2017.
W. ladys law Skarbek and A. Koschan, "Colour image segmentation a survey", IEEE Transactions on circuits and systems for Video Technology, vol. 14, 1994.
M. M. Kelek, M. F. Aslan, and A. Durdu, "Real-Time Target Tracking Using Fast Object Detection", International Congress on Engineering and Natural Science, 24-28 May, Sarajevo-Bosnia, pp. 1807-1811, (2016).
A. Kayabası, B. Yıldız, K. Sabancı, E. Yigit, A. Toktas and M. Tekbas," Colour Feature-Based Classification of Wheat Grain Using ANN with Bayesian Regularization Learning Algorithm",3rd International Conference on Science, Ecology and Technology (ICONSETE), 14-16 August, Rome-Italy, pp. 174-186, (2016).
K. Sabanci, A. Kayabasi, and A. Toktas, "Computer vision‐based method for classification of wheat grains using artificial neural network", Journal of the Science of Food and Agriculture, vol. 97, no. 8, pp. 2588-2593, 2017.
T. Selcuk and A. Alkan," Pv Modul Simulation And Pv System Toolbox Implementation In Simulink", Academic Knowledge Conference, 5-7 February, Mersin-Turkey, pp. 383-386, (2014).
M. Altun, Y. Celik, M. Gunes, “Investigation of The Success of Particle Swarm Optimization Based PID Classic PID and Fuzzy Type Inspection Methods in Speed Control of DC Motor”, Journal of Engineering Science Kahramanmaras Sutcu Imam University, vol. 20, no. 4, pp. 158–167, Dec. 2017.
M. Altun, Y. Celik, M. Gunes," Investigation of The Success Of Pid And Fuzzy Type Inspection Methods In Speed Control Of Shunt Excited Dc Motor", 2nd International Energy and Engineering Conference 12-13 October Gaziantep- Turkey, pp. 451-461, (2017).
O. Doğmuş, E. Kiliç, S. Şit, And M. Güneş,"Adaptation of Optimized PID Controller with PSO Algorithm to Photovoltaic MPPT System", Journal of Engineering Science Kahramanmaraş Sutcu Imam University, vol. 20, no. 4, pp. 1–8, Dec. 2017.
S. Şit, H. R. Özçalik, E. Kiliç, And M. Altun,“ Comparative Study of the Success of PI and PI Fuzzy Controller for Induction Motor Drive using SVPWM Method”, International Journal of Engineering Science Invention (IJESI), vol. 5, no. 11, pp. 105–114, Nov. 2016.
A. Gani, E. Kiliç, Ö. F. Keçecioğlu, H. Açikgöz, M. Tekin, And M. Şekkeli”, A Simulation Study on Controlling Excitation Current of Synchronous Motor and Reactive Power Compensation via PSO Based PID and PID Controllers”, Conference on Innovations and Applications in Intelligent Systems, 5-7 October, Alanya-Turkey, (2017