Đồ án tốt nghiệp - Research, design and construct two-wheel balancing robot for object tracking

MINISTRY OF EDUCATION AND TRAINING
HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF HIGH QUALITY TRAINING
DEPARTMENT OF AUTOMATION CONTROL
-***    ***-

THESIS

RESEARCH, DESIGN AND CONSTRUCT TWOWHEEL BALANCING ROBOT FOR OBJECT
TRACKING
AUTHOR: NGUYEN HOANG HAI

13151026

NGUYEN DANG KHOA

13151043

2013 – 2017
AUTOMATION AND CONTROL ENGINEERING
TECHNOLOGY
ADVISOR: NGUYEN VAN THAI, PhD
YEAR:
MAJOR:

HO CHI MINH city, July, 2017

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION


FACULTY OF HIGH QUALITY TRAINING

THESIS

RESEARCH, DESIGN AND CONSTRUCT TWOWHEEL BALANCING ROBOT FOR OBJECT
TRACKING

AUTHOR: NGUYEN HOANG HAI
NGUYEN DANG KHOA

STUDENT ID: 13151026
STUDENT ID: 13151043

2013 – 2017
AUTOMATION AND CONTROL ENGINEERING
TECHNOLOGY
ADVISOR: NGUYEN VAN THAI, PhD
YEAR:
MAJOR:

Ho Chi Minh city, July, 2017

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION


FACULTY OF HIGH QUALITY TRAINING

THESIS

RESEARCH, DESIGN AND CONSTRUCT TWOWHEEL BALANCING ROBOT FOR OBJECT
TRACKING

AUTHOR: NGUYEN HOANG HAI
NGUYEN DANG KHOA

STUDENT ID: 13151026
STUDENT ID: 13151043

2013 – 2017
AUTOMATION AND CONTROL ENGINEERING
TECHNOLOGY
ADVISOR: NGUYEN VAN THAI, PhD
YEAR:
MAJOR:

Ho Chi Minh city, July, 2017

SOCIALIST REPUBLIC OF VIETNAM
Independence – Freedom – Happiness

*******
Ho Chi Minh city, July, 2017
TASKS OF THE THESIS
Name of student: ................................................. Student ID: ...............................
Name of student: ................................................. Student ID: ................................
Major: ..................................................................Class: .............................................
Name of Advisor: ................................................Mobile phone: ................................
1. Name of the thesis:
.....................................................................................................................................
2. Initial figures and documents:
.....................................................................................................................................
3. Content of the thesis:

.....................................................................................................................................

4. Product:

.....................................................................................................................................

Ho Chi Minh city,
...

...
(rad/s),  = 0.02 (rad),  = 0.0014

(rad/s). We also choose the weighting matrix:
0
0 0
0
0 
100000
 0
10000 0 0
0
0 

 0
0
1 0
0
0 
1 0 
Q
 R

0
0 1
0
0 
0 1 
 0
 0
0
0 0 100000
0 


0
0 0
0
10000 
 0

By using the function lqr(A, B, Q, R), we can find out the K parameter:






 1.0e+04 *

K 



 -0.0224 0.0156 -1.0551 -0.2208 -0.0224 -0.0226


 -0.0224 0.0156 -1.0551 -0.2208 0.0224 0.0226 

The result of Matlab simulation is shown in figure 5.4:

81

Figure 5.4: Output response.
5.2.1. COMPUTER INTERFACE:
We use Zedgraph to track the angle by drawing angle on Zedgraph.

Figure 5.5: Communicating interface.

82

5.3. EXPERIMENTAL RESULT:
5.3.1. EXPERIMENTAL RESULT OF MANUAL MODE:
Experimental
Psi Error 5
Psi Error 5
times
degrees
degrees
Stand still
30
29
1
Forward
30
29
1
Backward
30
29
1
Turn Left
30
30
0
Turn Right
30
30
0
Figure 5.6: Experimental result of manual mode.

Efficiency
97%
97%
97%
100%
100%

5.3.2. EXPERIMENTAL RESULT OF TRACKING MODE:
Experimental
Distance
Distance
Efficiency
times
Error 1cm Error 1 cm
Green
40
38
2
95%
Ball
Figure 5.7: Experimental result of tracking mode.

83

CHAPTER 6: CONCLUSION AND DEVELOPING ORIENTATION

6.1. CONCLUSION:
After 4 months working together, our team has finished the thesis “Two-wheel
balancing robot tracking the ball” with several key goals has been achieved:
 The robot is compact in size, flexible in operation.
 Robot works effectively and achieves the required standard.
 Transfer data by communicating to computer and smartphone via Bluetooth
platform.
 Robot can track the object based on the setting distance.
 Read angle correctly by using Kalman filter.
 Robot can balance, move forward, backward, turn left, turn right on even
terrain.
 The android software works well and is easy to use.
Besides that, this project also has some limitations such as there is very small
shake when the robot stand still and not be able to track a too quickly moving ball.
6.2. DEVELOPING ORIENTATION:
Based on the successful research of the thesis “Research, Design and Construct
Two-Wheel Balancing Robot for Object Tracking”, we can develop the project by
using a better smartphone to improve image processing. It also could be utilized as
a warehouse robot with the main task is tracking item status and new
information to a server system through a wireless connection. Firefighting robot is
also a good example of application.

84