Implementation of a Balancing Controller for A Humanoid Robot Driving Scooter

A two-wheel self-balancing robot is a technological advancement in robotics. During the last few years, research has gained momentum on self-balancing robots, two-wheel inverted pendulums. Without external control, a self-balancing robot would roll around the wheels' rotation axis and eventually fall. When the robot is driven in the right direction at the right speed, it will return to the right position. Despite this, the robot is naturally unstable. Robots tend to fall off their axis if their base or platform is unstable or unbalanced. The gyro chip provides the change in angle of the robot, so the PID controller can check the error in the angular position of the self-balancing robot's base. A microcontroller and sensor system are used to stabilize an unstable system based on such a control system. After the Kalman filter recognizes an error in the angle or speed, the Proportionality Integrative Derivative (PID) calculates the error and sends the corrected signal to the robot. An open-source robotic 3D platform is used for the virtual demonstration of the paper (GAZEBO) and Robotics Operated System (ROS) for the pre-build robotic packages. It can be used for a variety of purposes, including surveillance, transportation, and reducing accidents and traffic jams.