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MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots — arXiv:2609.36091

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.36091
License (as archived): CC0-1.0
Archived: 2026-10-07T19:15:04.754Z
SHA-256 of the archived text: d1f3f1858ce18df1cb47baabd7e2d29a637b7d2754f16689e2fc9b3db912519e
Stable URL of this page: https://metraipolis.com/documento/dc_fc776e76d765

How to cite

MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots — arXiv:2609.36091 — arXiv (en), https://arxiv.org/abs/2609.36091 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_fc776e76d765 (Metraipolis archive dc_fc776e76d765, sha256 d1f3f1858ce18df1cb47baabd7e2d29a637b7d2754f16689e2fc9b3db912519e)

BibTeX

@misc{dcfc776e76d765,
  title = {MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots — arXiv:2609.36091},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.36091},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_fc776e76d765; sha256 d1f3f1858ce18df1cb47baabd7e2d29a637b7d2754f16689e2fc9b3db912519e},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.36091. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-09-30 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.36091 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-07T18:40:59.378Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-09-30?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).