The Development of a Self-Balancing Robot Based on Complementary Filter and Arduino

• Published in: SpringerBriefs in Applied Sciences and Technology
• Main Author: Sani M.A.A.; David J.B.A.; Jaafar N.H.; Yusof M.I.; Sani N.S.; Sadikan S.F.N.
• Format: Book chapter
• Language: English
• Published: Springer Science and Business Media Deutschland GmbH 2024
• Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85182406288&doi=10.1007%2f978-3-031-47727-0_9&partnerID=40&md5=3a403e41a52723ac241e02eec5169c3f

As a complement to mobile robots, a self-balancing robot was developed using an Arduino, and it was built on a robot that moves on two wheels. Self-balancing robots are based on the inverted pendulum concept, which states that the robot should move ahead when it tilts forward to prevent falls and reverse when tilted backward. Two sensors were required to estimate and log the robot's angular velocity. A complementary filter would be fed by the raw data from these sensors to combine the signals into one that could be used by the controller. Since a proportional, integral, and derivative (PID) controller was put into place, a stepper motor with an encoder was used. The self-balanced robot's stepper motor's pulse width modulation (PWM) was modified using a proportional-integral-derivative controller. The difference between the target and actual tilt angle would be adjusted accordingly. The stepper motor's speed could then be adjusted to keep the robot stable. The outcome indicated that the self-balancing robot might function by utilizing a complementary filter and a proportional-integral-derivative controller to adapt the wheel movement of the robot depending on the conditions. The data logged by the robot's accelerometer, gyroscope, and pitch, as well as the pulse width modulation of its stepper motor, demonstrated the results of this study. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.