Design and Implementation of Two-Wheeled Self-Balancing Vehicle Based on Load Sensors

In this paper, an easy-to-use two-wheeled self-balancing vehicle was implemented by using an Arduino control board, inertial measurement unit, and six load sensors. The two-wheeled balance vehicle designed in this paper is based on the inertial sensor to detect the inclination of vehicle, and a load sensor is added to detect the driver's posture of standing on the two-wheeled balance vehicle. In order to improve the situation that the motor output is not as expected due to the ankle angle change causing the vehicle to misjudge the center of gravity angle, the load sensors were not only to detect the left and right changes of center of human’s gravity, but also used to detect the front and rear changes of center of gravity to correct the angle difference of the center of human’s gravity and the center of the vehicle. In addition, the load sensors were also used to estimate the height of the center of human’s gravity, so that people with different heights and weights can have a similar riding experience.