Self-balancing two-wheel electric vehicle (STEVE)

STEVE is an applied research project to design, analyze, and construct an electric vehicle with two parallel wheels similar to Segway. A rider holds the steering while standing. The vehicle through an onboard-control system is balancing itself as well as responds to commands implied by the movement of the rider. For example, if the rider leans forward, the vehicle will accelerate in the forward direction and vice versa. Accelerometer and gyrometer are used to make tilt angle estimation. The estimation of the tilt angle is done using Kalman filter. Also, this vehicle can also turn to the right and to the left as commanded by the rider. Overall, this vehicle can move quickly over a long distance with only one battery charge.