Obstacle Avoidance Control of Two-wheeled Self-balancing Autonomous Robots

• Main Authors: Lian, Meng-Jhe, 連孟哲
• Other Authors: Leu,Yih-Guang
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/9w6uk7

碩士 === 國立臺灣師範大學 === 工業教育學系 === 105 === The main goal of the thesis is the design of navigation and obstacle avoidance control of a two-wheeled self-balancing autonomous robot. The body structure of the two-wheeled self-balancing autonomous robot includes motors and drivers, balancing sensor device, and obstacle avoidance and navigation device. The motor control device consists of an 8-bit microcontroller and a driver circuit. The balancing sensor device measures the inclination angle of the autonomous robot by the gyroscope and the accelerometer. The obstacle avoidance and navigation device uses ultrasonic sensors and electronic compass to measure the distance and the movement of obstacles. According to sensor devices data, the microcontroller utilizes PID controller and the fuzzy controller to achieve self-balance control, obstacle avoidance and navigation. Finally, some experimental results are given to verify the performance of the overall system.