PID Self-Balancer
PID Self-Balancer
Used two light sensors and a PID controller to create a self-balancing robot
Designed the robot to place the center of mass higher to make the task more reliable
Developed experience creating and tuning a PID controller
Added an offset to the inputs to account for differences in sensor function
Used imitation learning from a provided PID model to design a simulated self-balancing robot
Improved the model using reinforcement learning
Created the neural network for imitation learning using pytorch