Design on self-balancing and track-searching cart

In this paper, a self-balancing two-wheel cart with track-searching function is designed with the technology of System on a Programmable chip (SOPC). The system checks the inclination angle of a vertical axis on the cart, and the two wheels are driven respectively with different angels and speeds to keep the cart balanced. After balancing, the system activates the camera for track-searching under the frame and the cart advances along a black line on a white background. PID algorithm is applied for keeping balance and an edge detection algorithm helps to identify the black line from the white background.