TWO WHEELER SELF BALANCING ROBOT

Abstract

Two Wheeler Self Balancing Robot one of low-speed transportation devices that, travel on sidewalks, roadways, and other
shared-use paths. The objective of this research was to examine the primary operating characteristics of the Two Wheeler
Self Balancing Robot( Segway). In this thesis, we designed and constructed mechanically based system for a two wheel
balancing robot. In this paper we present Two Wheeler Self Balancing Robot based on gyro sensor, accelerometer along
with a microcontroller and use of mechanical and electrical hardware’s. The dynamics of the vehicle is similar to the
classical control problem of an inverted pendulum, which means that it is unstable and prone to tip over. This is prevented by
electronics sensing the pitch angle and its time derivative, controlling the motors to keep the vehicle balancing. This kind of
vehicle eco-friendly and energy efficient transportation industry. This thesis describes the development of a similar vehicle
from scratch, incorporating every phase from literature study to planning, design, vehicle construction and verification. The
main objective was to build a vehicle capable of transporting a person weighing up to 70-85 kg and capable of travelling to
some km distance with varying speed. The rider controls are supposed to be natural movements; leaning forwards or
backwards in combination with tilting the handlebar sideways should be the only rider input required to ride the vehicle.
This thesis also takes into consideration the material used with minimum possible cost. The design of Two Wheeler Self
Balancing Robot is such that it covers less space and comfort to the user