Design and Control of Two-wheeled Self-Balancing Robot using Arduino

This paper discusses the design, construction, and control of a two-wheel study level, small self-balancing robot. Two-wheel robots are compact and require less number of motors and other equipment in comparison to conventional four-wheel robots. Consequently, they offer a complex control system problem of balancing on two-wheel. The system architecture comprises of Arduino Nano microcontroller board, DC stepper motor, gyroscope, and accelerometer sensor. PID controller controls it through the program written in Arduino IDE. A detailed description of constituting materials in making the robot has been provided. Flow chart and closed loop control diagrams have been given for understanding the controlling of the robot. A step-by-step process of connecting the hardware components has been listed, and finally, hardware assembly is shown.