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dc.contributor.authorLu, Zhilong.
dc.description.abstractRobotic mobility technologies have become more and more popular over the past few years. The inverted pendulum model based robot is one of them. Two-wheeled inverted pendulum model based robot has a small footprint, and it can be used on various terrains. However, such robot is hard to be balanced. This project investigated the techniques involved in balancing such an unstable two-wheeled robotic platform. The objective is to design and implement a discrete digital control system that will provide the unstable robot ability of self-balance. A physical two-wheeled robot was designed and implemented by using an accelerometer, a gyroscope, a microcomputer and two DC motors. A sensor fusion technique was used to combine multiple sensors information and eliminate noise. APID controller was implemented to control the system balancing. A wireless communication interface was implemented to allow the robot communicate with a PC and was monitored by the researcher.en_US
dc.format.extent49 p.en_US
dc.rightsNanyang Technological University
dc.subjectDRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Roboticsen_US
dc.subjectDRNTU::Engineering::Computer science and engineering::Hardware::Control structures and microprogrammingen_US
dc.titleAn intelligent embedded system for self-balancing personal transporteren_US
dc.typeFinal Year Project (FYP)en_US
dc.contributor.supervisorTan Su Limen_US
dc.contributor.schoolSchool of Computer Engineeringen_US
dc.description.degreeBachelor of Engineering (Computer Engineering)en_US
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Appears in Collections:SCSE Student Reports (FYP/IA/PA/PI)
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