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Self-balance robot

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Keyword: IMU algorithm, PID control, Arduino

I did this project when I was interning at Robotics-unlimited, Pensacola. The whole project was based on self-balance robot where there was an humaniod robot standing on two wheels and that two wheels were used to be able to balance the robot.

IMU(accelerometer and gyroscope) were used to calculate the tilting angle of the robot. And PID control was desgined to make the robot maintain itself to be able to stand vertically. Also there is PID control on each wheel of the motor in terms of the velocity and position of the robot.

Throttling and steering data were the input of the system which user can remote control the self-balancing robot by using bluetooth communication.

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