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[Submitted on 28 Sep 2026] Title:MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots View a PDF of the paper titled MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots, by Arpita Kumari and 2 other authors View PDF HTML (experimental) Abstract: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. Comments: 6 pages, 10 figures, 1 table. Accepted for presentation at the 2026 IEEE International Conference on Intelligent Signal Processing and Effective Communication Technologies (INSPECT), organized by Indian Institute of Technology (IIT) Patna Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2609.36091 [cs.RO] (or arXiv:2609.36091v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.36091 arXiv-issued DOI via DataCite (pending registration) Submission history From: Arpita Kumari [view email] [v1] Mon, 28 Sep 2026 18:32:52 UTC (2,024 KB) Full-text links: Access Paper: View a PDF of the paper titled MagNav: A Dual-Core Magnetic Track Guidance Framework for Lighting-Invariant Navigation in Two-Wheeled Robots, by Arpita Kumari and 2 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)