Selfbalancing robot project (Arduino and open sourced)

Traditional mobile robotics is all about wheeled robots.
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Selfbalancing robot project (Arduino and open sourced)

Post by sebnil » Fri Jul 20, 2012 3:13 pm

Post by sebnil
Fri Jul 20, 2012 3:13 pm

http://www.youtube.com/watch?v=QH83A746 ... r_embedded
In the video you can see that the robot stays at roughly the same spot on the floor and handles a lighter push without any problem. To achieve this I have two cascade PID controllers and low pass filter on both wheel speed and the robot's angle.

Now I am thinking about improvements. Better stabilization is a first. Perhaphs radio control would be nice.

More info and component list on http://sebastiannilsson.com/en/k/projek ... ing-robot/

Image
http://www.youtube.com/watch?v=QH83A746 ... r_embedded
In the video you can see that the robot stays at roughly the same spot on the floor and handles a lighter push without any problem. To achieve this I have two cascade PID controllers and low pass filter on both wheel speed and the robot's angle.

Now I am thinking about improvements. Better stabilization is a first. Perhaphs radio control would be nice.

More info and component list on http://sebastiannilsson.com/en/k/projek ... ing-robot/

Image
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