Auto Balancing Human Carrier

Project Title

Auto Balancing Human Carrier

Project Area of Specialization RoboticsProject Summary

The purpose of this project is to build “Auto-Balancing Human Carrier” which can be used as a convenient way of travelling for short distance carrying a single person. This auto-balancing human carrier consists of a platform with wheels attached to its sides, a physical application of stabilized control system. It is build loosely around the design of Segway. The rider drives the vehicle by standing on the platform and leaning in the direction to move. The handlebar also serves as steering control of the vehicle. It balances by detecting the tilt angle using an accelerometer and gyroscope, calculating the corrective action using a controller implemented on Arduino to move forward or backwards automatically to regain its balance.

Project Objectives

1) To design a vehicle that will try to balance itself .

2) It also follow the commands given by rider .

3) To design a vehicle whose components are easily accessible.

4) fabricate a environment friendly vehicle.

Project Implementation Method

Project implementation includes,

1) Solidworks Model.

2) Matlab Simulations.

3) IMU Sensor.

4) Hardware Designing.

5) Problem Analysis.

Benefits of the Project

Benifits of project are,

1) Design environment friendly vehicle.

2) Reduce time for travelling foot distance.

3) Cover less space for riding and parking.

4) this vehicle is good for people having difficulty in walking.

5) No need of any fuel. Just only work on battery.

Technical Details of Final Deliverable

Technical details includes,

1) Tilt measurement to be carried out by using gyroscope and accelerometer combined in a 6 degrees of freedom inertial measurement unit(IMU).

2) The balance as well as forward movement is controlled by the DC motors each connected to one side wheel.

3) The operations are implemented using a microcontroller.

which performs filtering,sensor fusion algorithms,PWM motor control in PID loop.

4) Steering along with continous balancing is achievable by interfacing a potentiometer with the handle .The value of the potentiometer changes as  handle rotates.

5) I2C communication protocol will be use to interface IMU sensor with controller. 

Final Deliverable of the Project Hardware SystemType of Industry Transportation Technologies RoboticsSustainable Development Goals Climate ActionRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	35660
Brusless DC Motors	Equipment	2	2500	5000
Tyers	Equipment	2	1850	3700
Battery	Equipment	2	2500	5000
Drivers	Equipment	2	1600	3200
Shaft	Equipment	1	2600	2600
wood	Equipment	1	2000	2000
Bearings	Equipment	2	80	160
Chain and sprocket	Equipment	2	1000	2000
Working Expenditures	Miscellaneous	1	6000	6000
Aluminum sheet	Equipment	1	4000	4000
Handel Parts	Equipment	1	2000	2000