A two wheeled robot having self-balancing is an application of the established inverted pendulum. Normally the inverted pendulum dilemma gives the numerical model of an unstable framework. The requirement to keep the robot upright for the unique stability differentiates it from usual forms of robots.
The robot chassis consist of two platforms. The lower platform has two high torque motors clamped on it, Complementary Filter compute model 3, an MPU and a motor driver mounted on it and the upper platform can carry the load of approximately 1kg placed on it. The two wheels of the robot are able to rotate independently, determined by high torque DC engine. The robot has the approximate dimensions of 60cm x30cm. A PID controller is used in order to keep the robot upright. The three parameters of the corresponding, necessary and subordinate controller are taken from the direct conditions of the framework. The values of the feedback control variables are obtained from the MPUunit, which consists of two sensors, an accelerometer and a gyroscope. Complementary Filter is used to avoid disturbances and remove any noise from the sensor data. Complementary Filter is chosen because of its efficiency to compensate for linear movement and also the noise of the accelerometer.
Two wheeled auto balancing robot can be used for a couple of utilizations with substitute perspectives, for example; insightful planters, self-ruling trolleys in healing facilities, transportation in shopping centers, workplaces, airplane terminals or a smart robot. A complete analysis and evaluation is done to review the robot’s effectiveness and efficiency in self-balancing.