Robust Two‐Wheeled Self‐Balancing Robot

Objectives:

Methodology:

• The system is a self‐balancing robot. It is implemented using PID Controller (which is a Proportional Integral Derivative Controller).
• We balance the robot by driving its wheels in the direction of its fall.
•  MPU6050 measures the angle of inclination and give its output to the Micro‐Controller.
•  After obtaining the data from MPU6050, the microcontroller will perform kalman filtering estimate its future state.
•  Based on the calculations, MCU will give commands to the motor driver to drive the vehicles in the direction of falling which will balance the robot.