Instrumentation and wireless control for the self-balancing mobile robot on two wheels

This paper describes a self-balancing mobile robot and their principal features as materials of construction, instrumentation, data communication and control. This kind of robots are an excellent platform for testing different techniques of control due to characteristics of the system (unstable, underactuated). The tilt measurement by means of an Accelerometer-Gyro pair to control a two-wheeled, self-balancing vehicle. The use of accelerometers and gyros to measure tilt angle is well known to entail high levels of unwanted signals of high and low frequency, thus the filter techniques are essential for their improvement. The Kaiman Filter decrease measurement noise through the sensors discrete state model. The tilt measurement is feedback to a PID with anti-wind up controller which maintains the balance of the vehicle. For send and receive data was used a blue-tooth module in order manage data via wireless communication.