Two-Wheeled Self-Balancing Robot Controlled by Dual-Core STM32 and ESP32

This paper presents a design scheme for a two-wheel self-balancing car based on dual-core control using STM32 and ESP32. High real-time balancing control duties are accomplished with the STM32 microcontroller, which uses a Proportional-Integral-Derivative(PID) algorithm to precisely regulate the motor driver and preserve vehicle equilibrium. The ESP32 microprocessor, meanwhile, controls wireless communication functions like voice control, bluetooth remote control, and automated obstacle avoidance as well as cognitive interaction. To ensure efficient information transfer between the two cores, the system employs a serial connection and a modular design approach. This provides a technical foundation for the astute application of two-wheel self-balancing vehicles and illustrates the design scheme’s effectiveness and feasibility.