Curvature Based 2 Wheels Self Supporting Robot Based on the Particle Swarm Optimization Algorithm

摘要

The balance of Double wheel self supporting robot is maintained by following the inverted pendulum concept. The PWM technique is adapted for controlling the DC motors which are connected to the robot wheels. In the existing robot models tilt sensor is used which makes them to move in a straight line only. Even with the connecting encoder tilt sensor does not reduced the error. The proposed method uses both Gyroscope and Accelerometer which are used to detect tilt angle & acceleration. As a result of this our robot will be able to move in curvilinear path. Any error from this sensor is overcome by coupling a kalman filter. By Using IOT and adopting port forwarding method multiple robots can be controlled. The application areas of this kind of robots are moving wheel chair, explosive detection and disposing and short range vehicles. Steady control and remit the overshoot amount were controlled by using particle swarm algorithm for based on LQR control model and also theoretically discussed.