A Development and Prototyping of a Two-Wheeled Self- Balancing Robot

Abstract

Mobile robotics is a branch of robotics and within the branch the category of selfbalancingrobots is of particular interest as these robots show the promise of navigating difficultterrain in a manner like humans and can be used to platform for investigating autonomouscontrol systems. This paper aims to summarize the development of a two-wheeled self-balancingrobot as a case study to demonstrate the application of computer control systems in physicalsystems. A complementary filter is used with a triple-axis gyroscope and accelerometer toaccurately gauge the rotation of the two-wheeled robot and provide the data to a Proportional-Integral-Derivative (PID) program which controls the power to the motors accordingly to controlits tilt and achieve self-balancing. In short, the robot manages to achieve self-balancing within asmall tilt angle range, however, design flaws such as the sensor falling off at larger tilt anglescause instability at larger tilt angles. In future work, more complex control algorithms can beemployed, and the effect of different robot builds can be thoroughly explored