Two Wheeled Balancing Robot

In today's modern world there are several different types of personal transportation. One of the more interesting ones is the two-wheeled balancing robot. It seems fascinating that this vehicle is able to keep upright while having a person driving it. The goal of this project is to build a similar vehicle. We will build the mechanical structure; design and build the electronic hardware and write the code for the microcontroller. The angle of the robot is usually determined using an accelerometer and a gyroscope. The measurements from the sensors are effected by noise, which makes the use of a filter necessary. We will use a Kalman filter implemented on a microcontroller. A PID-controller uses the input angle to output a signal to the motor driver. To monitor the data from the robot and the state of the system, an Android smartphone will be used to display values sent from the microcontroller. To make the tuning of the PID-controller efficient and easy, it is desirable to be able to adjust the PID-values while the robot is running.