Self Balancing Robot

This repository contains the firmware, PID Tunning on Simulink and ROS Navigation package for a Self-Balancing Robot.

Goals

• Self-Balacing
• Localization
• Autonomous Navigation

Hardware

• Arduino MEGA 2560
• Raspberry Pi 3/B+
• MPU6050 IMU
• A4988 Stepper Motor Drive

Dependencies

• git
• Arduino
• ROS
• To Run the PID calibration:
  • MATLAB
  • Simulink

Installation

Clone this package in your workspace

cd ~/your_workspace
git clone https://github.com/fredvaz/bluerov2.git

References

• Zheng, B. G., Huang, Y. B., & Qiu, C. Y. (2014). LQR+ PID control and implementation of two-wheeled self-balancing robot. In Applied Mechanics and Materials (Vol. 590, pp. 399-406). Trans Tech Publications.

• Ding, Y., Gafford, J., & Kunio, M. (2012). Modeling, Simulation and Fabrication of a Balancing Robot. Harvard University, Massachusettes Institute of Technology, 151.

License

Self Balancing Robot package is open-sourced under the GNU General Public License v3.0. See the LICENSE file for details.