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Two Wheeled Self Balance Robot

This document presents a project on the design and implementation of a two-wheeled self-balancing robot using an ESP32 microcontroller and an MPU6050 sensor for real-time feedback control. The robot utilizes a PID control algorithm to maintain stability and can be built with low-cost components, making it suitable for educational purposes and further development. The project demonstrates key concepts in robotics, control systems, and sensor integration, with potential applications in personal transportation and automation.

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jhornamridha13
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24 views1 page

Two Wheeled Self Balance Robot

This document presents a project on the design and implementation of a two-wheeled self-balancing robot using an ESP32 microcontroller and an MPU6050 sensor for real-time feedback control. The robot utilizes a PID control algorithm to maintain stability and can be built with low-cost components, making it suitable for educational purposes and further development. The project demonstrates key concepts in robotics, control systems, and sensor integration, with potential applications in personal transportation and automation.

Uploaded by

jhornamridha13
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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TWO WHEELED SELF BALANCING ROBOT

Fatema Mridha Jhorna , Ahmed Hasan , Emdadul Haque Emon ,


1 1 1

Mohiuddin Kabir 1
Department of Electronics and Communication Engineering
1

INSTITUTE OF SCIENCE AND TECHNOLOGY


Abstract Components with Cost Analysis
This project focuses on the design and implementation of a two-wheeled
self-balancing robot capable of maintaining upright stability through real- ESP (32) - 450 Tk
time feedback control. The system is built around an ESP32 microcontroller MPU6050 - 90 Tk
integrated with an MPU6050 gyroscope-accelerometer sensor to measure
the robot’s tilt angle and angular velocity. A PID (Proportional-Integral-
L298N Motordriver - 80 Tk
Derivative) control algorithm processes this sensor data and dynamically Buck converter - 60 Tk
adjusts the speed and direction of two DC motors via an L298N motor driver Lipo battery - 600 Tk
to correct any imbalance.
Sheet - 50 Tk
Power is supplied through a rechargeable Li-ion battery, with voltage levels
regulated using buck and boost converters to ensure consistent and reliable N20 motor - 240 Tk
performance. The robot continuously reacts to disturbances by recalculating Wheel - 40 Tk
motor inputs, achieving self-balance without external support. This project
highlights key concepts in embedded systems, control engineering, and
Total - 1610 Tk
sensor fusion. Due to its low cost, compact design, and effective real-time
response, the robot serves as an excellent educational tool and can be
adapted for use in personal transportation systems, mobile robotics, and
automation platforms. Advantage
Compact and Efficient Design The robot uses only two wheels,
Introduction making it smaller and more maneuverable than four-wheeled robots.
Balancing is a fundamental challenge in robotics, especially for systems with It can turn within a small radius and move in tight spaces.
a narrow base like two-wheeled robots. Inspired by the way humans balance Real-Time Balancing The use of a PID control system with sensor
on two legs, this project aims to build a self-balancing robot that can stand feedback allows the robot to balance and adjust its position
and move on two wheels without falling. The robot uses a gyroscope and dynamically, demonstrating advanced control techniques.
accelerometer (MPU6050) to detect its tilt angle, and an ESP32 Educational Value This project helps in understanding key concepts
microcontroller to process the data using a PID control algorithm. The in control systems, sensor integration, embedded systems, and
motor speeds are adjusted through an L298N motor driver to bring the robot robotics—making it ideal for learning and teaching.
back to an upright position whenever it starts to tilt. This type of robot is not Low Cost and Easy to Build The components used (ESP32, MPU6050,
only an excellent demonstration of dynamic stability and real-time control, L298N, etc.) are affordable and widely available, making the project
but also a foundational model for devices like Segways, smart mobility accessible for students and hobbyists.
solutions, and other autonomous systems. Through this project, we explore Expandable for Advanced Features The basic platform can be
the integration of sensors, control systems, and embedded hardware to upgraded with features like Bluetooth/Wi-Fi control, object detection,
create a responsive and stable robotic platform. or line following, making it suitable for further development.
Practical Applications The same balancing principles are used in real-
life devices such as Segways, hoverboards, and self-balancing
Circuit Diagram transport robots, making this project highly relevant.
Improves Programming and Tuning Skills Implementing and tuning
the PID controller improves problem-solving skills and
understanding of system dynamics.

Conclusion
The two-wheeled self-balancing robot project successfully demonstrates the
practical application of sensor-based feedback control using an ESP32 and
MPU6050 module. Through the integration of a PID control algorithm, the
robot can maintain balance dynamically, showcasing key principles of
control systems and real-time processing. The use of low-cost and easily
Fig 1 : Circuit Dragram
available components like the L298N motor driver, N20 motors, and buck
converter makes this project accessible and replicable for students and
hobbyists. This project not only improves understanding of robotics and
Experimental Setup electronics but also opens the door for future enhancements such as wireless
control, obstacle avoidance, or autonomous navigation. Overall, the self-
balancing robot is a compact, efficient, and innovative example of
embedded system applications in robotics.

References
Astrom, K. J., & Murray, R. M. (2010). Feedback Systems: An Introduction
for Scientists and Engineers. Princeton University Press. – A foundational
book on control systems and PID control theory.
Fig 2 : Experimental Setup

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