Self Balancing Bot

Abstract

This report presents a development self-balancing bot using PID controller. The platform has been designed using mobile robot kits including IMU and two servos, and controlled by an open source microcontroller with PID. An Arduino microcontroller, and a two-degree of freedom (axis) accelerometer and gyroscope or MPU-6050 have been used to create the controlled platform. The controller has been designed to maintain the platform at an initially selected angle when the support structure orientation changes. To simplify things a little bit, I take a simple assumption; the robot’s movement should be confined on one axis (e.g. only move forward and backward) and thus both wheels will move at the same speed in the same direction. Under this assumption the mathematics become much simpler as we only need to worry about sensor readings on a single plane. If we want to allow the robot to move sidewise, then you will have to control each wheel independently. The general idea remains the same with a less complexity since the falling direction of the robot is still restricted to a single axis.