DESIGN AND DEVELOPMENT OF A SELF-BALANCING ROBOT AUTONOMOUS VEHICLE THROUGH THE APPLICATION OF PID CONTROLLER

Project Title

DESIGN AND DEVELOPMENT OF A SELF-BALANCING ROBOT AUTONOMOUS VEHICLE THROUGH THE APPLICATION OF PID CONTROLLER

Project Area of Specialization RoboticsProject Summary

 A ROBOT is an electromechanical gadget that is equipped to responding somehow to its surroundings and takes independent choices and activities to accomplish a particular undertaking. It is a device intended to execute more than one task, with level and accuracy. There is the same number of diverse sorts of robots as there are assignments for them to perform.

A self-balancing robot is made at the principle of an inverted pendulum which has to that balances vertically via PID set of regulations, sensors, and micro-controllers  A Robot body is placed on the center of mass above the axis and wheeled to keep the frame of a robot. A Self-balancing robot is a type of locomotive/mobile robot. The two wheels are located under the base of the robot. These wheels provide a locomotion environment. In this era, researchers work on this sort of robot because in truth it's a very motivating technology. The self-balancing robot is typically discussed as stability control. In this project, we need to find angular position and balance. The major risk is in the building of the robot. The components of a robot are very expensive. The main risk?is damaging the?electrical?components.

 The inverted pendulum has its center of mass above its pivot?point. The main aim of the principle is to check?if the robot moves forward, it holds the stability, then it will need to transport forward if this does not hold stability,  It includes hardware and?software implementation. then the robot will fall over. To find its stable position use the PID algorithm. The self-balancing robot IMU sensor contains both an accelerometer and a gyroscope.?According to the situation, the accelerometer and gyroscope sensor controls the angle of the pendulum and position of the robot. A microcontroller provides the computational power to allow the robotic to stabilize itself, primarily based mostly on the sensor's enter statistics. 

Our motivation to work on this project came from Segway and a movie about a girl and her robot where robots automatically move.? In a deep search, we found out that it is very useful in a pandemic coronavirus situation. We aim to protect our front line doctors who deal with COVID-19 patients. How does this robot help doctors? As we know, the pandemic COVID-19 virus spread?from one to the alternative character because of at once contact. Other people cannot contact directly due to this virus but our doctors live in danger because they check the patients. So, we can use this robot to prevent doctors a little bit from the virus. when the doctor checks the patient or wants other medical equipment they take help from nurses, so this project helps doctors and nurses can place medical equipment at the robot, those medical equipment transfer from one to some other place. This project is also used to check its balance, position. 

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Project Objectives

1. Design a self-balancing robot structure.

2. Develop a self-balancing algorithm.

3. Integrate and test the robot in real world

Project Implementation Method

The implementation process for the robot structure of the self-balancing robot is as under:

Now the flowchart of the algorithm through which the process of the developed code would work as presented as under:

Benefits of the Project

1.The benefit of our project is that it protects doctors, patients, and other medical staff from COVID-19 in a way that this robot can help doctors by giving the medical equipment to them, further with the help of this robot supplying food to patients without contacting them can also reduce the chance of getting infected from COVID 19.

2. We can make the hoverboards at a much lesser price by using this technology.

3. It helps restaurants for delivering food to the customers so the chance of spreading the virus would be less.

4 . We can use in a hazardous environment where human interaction is not possible

Technical Details of Final Deliverable

Software Details:

1.  The language we are using is c.
2. The software that we are is Arduino IDE.

Hardware Details:

1. Battery. 
2. Controller board. 
3. Stepper motor. 
4. Stepper motor driver. 
5. Bluetooth module. 
6. Inertial measurement unit. 
7. Main circuit board. 
8. Wheel. 
9. Acrylic Board. 
10. Gyroscope. 
11. Accelerometer. 
12. PID controller:

Algorithm: closed-loop algorithm with the application of PID Controller and Gyro sensors.

Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther Industries Medical Core Technology RoboticsOther Technologies Artificial Intelligence(AI)Sustainable Development Goals Good Health and Well-Being for People, Gender Equality, Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	50250
Battery	Equipment	1	740	740
controller board	Equipment	3	720	2160
stepper motor	Equipment	2	6000	12000
stepper motor driver	Equipment	2	1000	2000
IMU	Equipment	1	1350	1350
main circuit board	Equipment	1	2200	2200
wheel	Equipment	2	70	140
acrylic boarddd	Equipment	3	360	1080
gyro scope	Equipment	1	8380	8380
accelerometer	Equipment	1	400	400
PID controler	Equipment	1	8500	8500
arduino UNO	Equipment	1	750	750
publication cost	Miscellaneous	1	10000	10000
Bluetooth module	Equipment	1	550	550