Two-Wheeled Self-Balancing Robot

Abstract

Self-balancing vehicles represent an interesting topic to be treated in future means of transport. They can have the advantages of being small, practical, easy to carry and to use. The main goal of the article is the study and analyze of a PID classic controller on two-wheel experimental robot. The main objective is to maintain a vertical position with low angle deviations. The proposed system uses an accelerometer and a gyroscope module in order to obtain position and angle velocity, respectively stepper motors for robot driving.