Design and Implementation of a Two-wheeled Self-balancing Robot Based on STM32

This paper presents the design and implementation of a two-wheeled self-balancing robot using STM32 microcontroller. The robot utilizes an MPU6050 gyroscope and accelerometer for attitude sensing, and a PID control algorithm for maintaining balance. The hardware platform includes an STM32F103C8T6 minimum system board, a DRV8833 motor driver board, and an HC-05 Bluetooth module for wireless communication. The software development is done using Keil uVision5 IDE. The robot's performance is evaluated through experiments, demonstrating its ability to maintain balance under various conditions, including different initial tilt angles and instantaneous perturbations. The results show that the robot can achieve stable balance and recover from disturbances effectively. This research provides a valuable reference for the development of self-balancing robots and their applications in various fields.