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Title: An intelligent embedded system for self-balancing personal transporter
Authors: Lu, Zhilong.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
DRNTU::Engineering::Computer science and engineering::Hardware::Control structures and microprogramming
Issue Date: 2011
Abstract: Robotic 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.
Rights: Nanyang Technological University
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:SCSE Student Reports (FYP/IA/PA/PI)

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