Design of Two-wheeled Self-balancing Traction Vehicle Based on OpenMV

In this study, we design a two-wheeled self-balancing traction vehicle. The common scheme of camera collecting road information of autonomous tracing intelligent vehicles is applied to a balancing vehicle to realize autonomous tracing of the balancing vehicle. This device uses the STM32C8T6F103 chip as the main control chip, combined with the attitude sensor MPU6050, a new vision sensor OpenMV, and other peripheral drive circuits are used with the software program based on PID and Kalman filter. The result meet the design requirements for promotional applications.