Design and Development of Two Wheeled Robot with Self Stabilizing

Platform

Mohammad Rabiul Islam1, and Mohammad Rubaiyat Tanvir Hossain1*

1
Department of Electrical and Electronic Engineering, Chittagong University of Engineering
and Technology (CUET), Chattogram-4349, Bangladesh

*Corresponding Author: Tel: +880-1713-109985, E-mail: mrthossain@cuet.ac.bd

Abstract

Objective: This paper presents designing, building, and testing of self-balancing two wheeled
robot mounted on top of which a self-stabilizing platform kept at perfectly horizontal position.
Methodology: The self-stabilizing platform was actuated by a DC servo motor and the self-
balancing of robot was realized by two DC motors with encoders, inertial measurement units
incorporating three-axis rate gyroscope and accelerometer with built in motion processing unit,
motor drivers, buck-boost converter, and microcontroller board with PID control unit. The
internal measurement unit measured the tilted angle of the robot axis, which was fed to the PID
controller that actuated the motors to actively balance the system.
Results: The PID controller gains were calibrated experimentally in such a way that the robot
was well balanced and did not deviate more than +2 degree. For the self-stabilizing control
part, whenever the robot tilted due to sudden load disturbances or rapid movement, it
maintained the horizontal position by rotating the servo motor that much in the opposite
direction.
Conclusions: The two wheeled robots with self-stabilizing platform mounted on can be of
great use, such as, for serving foods and medicines to patients in hospitals, collecting patient
data and information, guiding in museum and doing cleaning and household activities rapidly.

Keywords: Buck-boost converter, DC Servo Motor, Gyroscope, PID Controller, Self-

Stabilizing Platform, Two Wheeled Robot, Inertial Measurement Unit.