An intelligent embedded system for self-balancing personal transporter

• Main Author: Lu, Zhilong.
• Other Authors: Tan Su Lim
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; DRNTU::Engineering::Computer science and engineering::Hardware::Control structures and microprogramming
• Online Access: http://hdl.handle.net/10356/43945
• Institution: Nanyang Technological University

Robotic mobility technologies have become more and more popular over the past few years. The inverted pendulum model based robot is one of them. Two-wheeled inverted pendulum model based robot has a small footprint, and it can be used on various terrains. However, such robot is hard to be balanced. This project investigated the techniques involved in balancing such an unstable two-wheeled robotic platform. The objective is to design and implement a discrete digital control system that will provide the unstable robot ability of self-balance. A physical two-wheeled robot was designed and implemented by using an accelerometer, a gyroscope, a microcomputer and two DC motors. A sensor fusion technique was used to combine multiple sensors information and eliminate noise. APID controller was implemented to control the system balancing. A wireless communication interface was implemented to allow the robot communicate with a PC and was monitored by the researcher.