IJAT Vol.8 No.2 pp. 216-221
doi: 10.20965/ijat.2014.p0216


Design of Two-Wheeled Self-Balancing Robot Based on Sensor Fusion Algorithm

Jianhai Han, Xiangpan Li, and Qi Qin

School of Mechatronics Engineering, Henan University of Science & Technology, No.48, Xiyuan Road, Luoyang 471003, China

October 11, 2013
February 13, 2014
Online released:
March 5, 2014
March 5, 2014
PID, sensor fusion, accelerometer, gyroscope, two-wheeled self-balancing robot

A two-wheeled, self-balancing robot is proposed using 6-axis MEMS sensors MPU6050 to measure its posture. The sensors integrated with a 3-axis gyroscope and a 3-axis accelerometer, can output the inclination of the robot based on sensor fusion algorithm. A handheld remote controller sends out commands to the robot such as forward, back, and turning around. According to the inclination and orientation commands, a 16-bit MCU using the PID control algorithm calculates the required control voltage for the motors, to adjust the robot’s posture and keep the body balanced. In this paper, the principle of the sensor fusion algorithm is fully described, and its effects are verified through related experiments. The experimental results show that the proposed robot is practical and able to balance using inexpensive MEMS sensors.

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