Design and implementation of self-balancing camera platform for a mobile robot

Abstract

One of the most common sensors used on mobile robots are cameras. An important issue of the image obtained from the camera on the mobile robot is that the image is affected by the posture of the robot. In this study, a camera is placed on a mobile robot and the equilibrium of the camera system is achieved by a camera tower system. In this way, the impact of the changing robot orientation on the image obtained from the camera is reduced. In order to measure the orientation of the robot body, an inertial measurement device is used and the sensory data is corrected with a Kalman filter. With the field test, the effectiveness of the camera stabilization system is proven.