SELF BALANCING BOT USING ARDUINO UNO AND MPU6050

SELF BALANCING BOT USING ARDUINO UNO AND MPU6050 1Mayank Vatsa, 2Nimisha Nisha, 3Pushpanjay Gaurav, 4Priyanshu Kumar Gupta, 5Kamanashis Goswami 1,2,3,4UG student, Department of Electronics & Communication Engineering, Haldia Institute of Technology, Haldia, Purba Medinipur, ,West Bengal. 5Assistant Professor, Department of Electronics & Communication Engineering, Haldia Institute of Technology, Haldia, Purba Medinipur, ,West Bengal. ABSTRACT Two-wheeled self-balancing robots are compact mobile robotic systems based on the principle of an inverted pendulum. Unlike conventional four-wheeled robots, a two-wheeled balancing robot is inherently unstable and must continuously sense its orientation and generate corrective motor commands to remain upright. This makes it an effective experimental platform for studying feedback control, embedded systems, inertial sensing, and robotics. This paper presents the design and implementation of a low-cost two-wheeled self-balancing robot using an Arduino UNO, MPU6050 IMU, L298N motor driver, DC geared motors, and a 7.4-V battery. The MPU6050 measures acceleration and angular velocity to estimate the robot’s pitch angle, which is compared with a setpoint of 176 and controlled using a PID controller with Kp=100, Ki=140, and Kd=0.8. The controller generates PWM motor commands to maintain balance, using DMP-based orientation processing and a 10-ms sampling interval. The study demonstrates the feasibility of dynamic balancing with low-cost hardware and discusses sensor calibration, PID tuning, limitations, applications, and future improvements such as encoder feedback, Kalman filtering, and LQR control