Simulating the behaviour of PID controlled small-scale transformer robot

Controlling and simulating the behaviour of a fast pace mobile robot are some of the important parts in developing a transformer robot. In this paper, the behaviour of a transformer robot was simulated to find the optimum control parameters. The term transformer robot was introduced by project `T-bot' made by the Florida Institute for Human and Machine Cognition. The T-bot robot is able to balance on two wheels using the principle of self-balancing inverted pendulum, and can transform to four-wheeled mode like an ordinary car. This paper is aimed at simulating and analyzing the behavior of a PID controlled small scale version of such robots.