Ultrasonic sensor based two-wheeled self-balancing robot obstacle avoidance control system

Aiming at the propose of preventing various barriers, which may cause collisions, during the moving process of a two-wheeled self-balanced robot, the ultrasonic ranging theory and DSP TMS320F28335 are adopted as the core controller by taking the two-wheeled self-balanced robot Hominid 3 as the platform. An obstacle avoidance control system for the two-wheeled self-balanced robot based on ultrasonic wave sensors is presented in this paper. DSP is employed to store and process the environmental information, which is collected by ultrasonic wave sensors. Particularly, the fuzzy controltheory was introduced based on the control algorithm of evaluation system to design the fuzzy controller. Moreover, MATLAB is used to carry out the obstacle avoidance simulation verification for the two-wheeled self-balanced robot based on the fuzzy control algorithm. Finally, obstacle avoidance experiments are carried out for the Hominid 3 in the practical environment. The results in simulation and experiments proved that the fuzzy control algorithm is feasible.