Autonomous Dual Wheel Self Balancing Robot Based on Microcontroller

摘要

An autonomous dual wheel self balancing robot is developed that is capable of balancing its position around predetermined position. Initially the system was nonlinear and unstable. It is observed that the system becomes stable after redesigning the physical structure of the system using PID controller and analyzing its dynamic behavior using mathematical modeling. The position of self balancing robot is controlled by PID controller. Simulation results using PROTEOUS, MATLAB, and VM lab are observed and verified vital responses of different components. Balancing is claimed and shown the verification for this nonlinear and unstable system. Some fluctuations in forward or backward around its mean position is observed, afterwards it acquires its balanced position in reasonable settling time. The research is applicable in gardening, hospitals, shopping malls and defense systems etc.