Control and Simulation of Autonomous Navigation of a Self-Balancing Robot^*

A PID controller was designed to optimize the balancing/dynamic behaviors of a self-balancing robot. To determine the optimal coefficients of the PID controller based on the pitch angle, rotation angle, and linear velocity of the robot, the main PID gains were established using the robot's mathematical model in MATLAB Simulink. Then, the robot's <tex xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">$3\mathrm{D}$</tex> model was built using SolidWorks software and imported into the Gazebo environment. Moreover, by creating a bridge between MATLAB and ROS2, a platform was provided for the real-time control of the robot in the Gazebo environment. Then, these two types of results were compared, and eventually, the robot was equipped with a LiDAR sensor, and the movement was simulated in a house with a large number of obstacles whose map was built using SLAM. Finally, using the data obtained from the sensors, the robot's autonomous navigation was simulated in this environment using ROS2 tools.