Prototype design of an inverted pendulum two-wheel vehicle

This study presents the design and implementation of a two-wheeled self-balancing vehicle based on the inverted pendulum principle, controlled wirelessly via a PC interface. The system integrates an ATmega-based embedded platform with MRF24J40MA wireless transceiver modules for real-time bidirectional communication between the vehicle and a host computer. The vehicle's structure includes a custom mechanical frame, sensor modules (including accelerometers and encoders), motor drivers, and an LCD interface for status display. Control algorithms, including PID tuning, are executed through a PC-based graphical interface, allowing precise adjustments and live monitoring. A dual-microcontroller configuration—ATmega8 for PC interface and ATmega32 for onboard control—facilitates modularity and reliable data handling. The results confirm the system's effectiveness in maintaining balance and responding to commands under various test conditions. This prototype serves as a foundational model for further exploration in autonomous robotics, wireless control systems, and real-time embedded applications.