Two Wheels Line Following Balancing Robot Control using Fuzzy Logic and PID on Sloping Surface

Balancing robot proposed in this paper is a robot that can follow the line and also be balanced on the sloping area while moving only by two wheels on the right and left side of robot. Distance controller is used for the movement of the robot that uses rotary encoder sensor to calculate its traveled distance and uses Proportional Integrated Derivative controller to convert it to angle. That angle will change the center of gravity of robot to make the robot can keep moving forward on the flat or sloping area. The balancing control used in this robot is Fuzzy Logic to maintain the robot stable on the set point position. An angle error for Fuzzy Logic input combines the tilt feedback from IMU and the output of the distance controller. To be able to follow the line, robot uses Proportional Derivative controller. The output of line following control will be combined with the output of balancing control to make robot balanced while following the line. By combining three controllers above, robot is able to balance not only on flat area but also on the sloping area while moving to follow the line.