Implementation of a Balancing Controller for A Humanoid Robot Driving Scooter

A two-wheel self-balancing robot is a technological advancement in robotics. During the last few years, research has gained momentum on self-balancing robots, two-wheel inverted pendulums. Without external control, a self-balancing robot would roll around the wheels' rotation axis and eventually fall. When the robot is driven in the right direction at the right speed, it will return to the right position. Despite this, the robot is naturally unstable. Robots tend to fall off their axis if their base or platform is unstable or unbalanced. The gyro chip provides the change in angle of the robot, so the PID controller can check the error in the angular position of the self-balancing robot's base. A microcontroller and sensor system are used to stabilize an unstable system based on such a control system. After the Kalman filter recognizes an error in the angle or speed, the Proportionality Integrative Derivative (PID) calculates the error and sends the corrected signal to the robot. An open-source robotic 3D platform is used for the virtual demonstration of the paper (GAZEBO) and Robotics Operated System (ROS) for the pre-build robotic packages. It can be used for a variety of purposes, including surveillance, transportation, and reducing accidents and traffic jams.

I. Introduction

Autonomous driving research has taken off in recent years. Most of the interest is in four-wheeled vehicles (FWV), because of their stability on four wheels. But that is not the same case when it comes to Two-Wheeled vehicles (TWV) because of their lacking in balancing aids. This throws a critical problem to introduce autonomous driving to TWV. (Humanoid) Robotics is another area that has seen great development. This gave a push for more general robots of humanoid shape. General robots are those which imply interacting with the world in the same way as humans do. Thus, TWV pose an interesting challenge. Using the concept of inverted pendulum, the robot balances the scooter i.e TWV. The usage of an electronic component called PID controller helps as an aid for perfect balancing of TWV. This calculates the error and passes the corrected signal to the robot so that it can balance again. For the virtual demonstration of the paper (GAZEBO) an open-source robotic 3D platform is used and Robotics Operated System (ROS) for the pre-build robotic packages. Most of the autonomous vehicles released are only Four-Wheeled Vehicles, because of their stability on four wheels. But that is not the same case when it comes to TWV because of their lacking in balancing aids. PID based controller is used for performing balance control and trajectory tracking by manipulating the steering point. It is a type of control loop that employs feedback and is widely used in industrial control systems and a variety of other applications requiring continuously modulated control. To control flow, temperature, pressure, level, and many other industrial processes, PID controllers are used in most automatic process control applications. The aim is to provide a new scope using humanoid robotics and PID controller for balancing the Robot which is driving a vehicle.