Autonomous balancing robot | |
| Author | Pradhan, Shrijal |
| Call Number | AIT Caps. Proj. no.ME-15-53 |
| Subject(s) | Robots--Control systems Autonomous robots |
| Note | A capstone project submitted in partial fulfillment of the requirements for the degree of Bachelor of Science in Engineering Mechatronics Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Caps. Proj. ; no. ME-15-53 |
| Abstract | The paper presents the design and operation of an autonomous-balancing two wheeler robot. A simple design was used as the robot’s blueprints. The robot will withstand any horizontal external force trying to tilt its equilibrium and balance itself accordingly. The budget for the project was 16,000 baht. The robot is lightweight and it can oscilate and balance itself autonomously. The base requirement of the project include: A central information processor, two motors, an Inertial Measurement Unit sensor, a motor driver and a body designed with the principles of the inverted pendulum. The performance of two digital filters were evaluated to fuse and smooth the signal from the sensors. Sensor fusion algorithm was implemented to obtain an accurate angular inclination of the body by processing the data from two independent sensors. The output of the filter, inclined angle of the robot, is used to generate the PWM signal, motor velocity feedback and direction. PID controller was implemented in the system to establish a closed-loop mechanism used while balancing the trajectory of the robot by sending variable PWM signals to the two motors. |
| Year | 2015 |
| Corresponding Series Added Entry | Asian Institute of Technology. Caps. Proj. ; no. ME-15-53 |
| Type | Capstone Project |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Microelectronics (ME) |
| Chairperson(s) | Bohez, Erik Lucas Julien; |
| Examination Committee(s) | Mongkol Ekpanyapong;Manukid Parnichkun; |
| Degree | Capstone Project (B.Sc.)-Asian Institute of Technology, 2015 |