Self-balancing vehicle using Kalman Filter

Abstract

At present our daily lives are being more and more inclined towards automation. The use of robots can therefore be an efficient way to get the tasks done which are hazardous and are difficult to get done by humans, these robots can even lower down the overhead costs and be effective in many other scenarios. A self-balancing vehicle is a two wheel vertical drives which stays upright across its vertical position and maintain its position while being subjected to external and internal forces. Being a inverted pendulum design it is inherently unstable so it needs constant control to provide appropriate acceleration. We provide this control with a PID controller implemented in a microcontroller. The angular displacement and velocity is fed by a gyroscope and accelerometer, both sensors are fused by using Kalman Filter.