Two Wheeled Self Balancing Robot

A self-balancing robot is a two-wheeled system designed to maintain its upright position using the principle of an inverted pendulum. It continuously adjusts its orientation and movement based on the real-time feedback from onboard sensors such as the gyroscope and an accelerometer. These sensors relay important data regarding the robot’s tilt and angular velocity, which are processed by an Arduino microcontroller. The microcontroller implements a PID (Proportional-Integral-Derivative) control algorithm to make precise corrections, ensuring stability by dynamically adjusting the speed and direction of the wheels. The primary objective of this project is to develop a low-cost self balancing robot capable of maintaining its balance while responding to external disturbances. Such robots have significant applications in warehouse automation, robotic assistants, and compact personal transportation systems due to their maneuverability and efficient space utilization. This paper provides a detailed exploration of the robot's design, hardware components, control algorithms, and tuning methods required to achieve effective balancing. Additionally, it discusses the advantages and limitations of this approach, including cost considerations, realworld applications, and challenges encountered during implementation.