IRJET- Self Balancing Robot using Arduino Uno

International Research Journal of Engineering and Technology (IRJET) e-ISSN: 2395-0056
Volume: 06 Issue: 04 | Apr 2019 www.irjet.net p-ISSN: 2395-0072
© 2019, IRJET | Impact Factor value: 7.211 | ISO 9001:2008 Certified Journal | Page 248
Self Balancing Robot using Arduino Uno
Maithilly Tripathi1, Forum Bajariya2, Suraj Vishwakarma3, Yusuf Shaikh4
1,2,3,4Student, Dept of Electronics and Telecommunication, Universal College of Engineering, Vasai, India
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Abstract - An A self balancing robot is creating a robot that
is a replica of a human body. Traditional robots consisted of
four wheels, were easily stabilized andcomparativelybigger
in size. A traditional robot uses four wheels and four motors
for movement, while a self balancing robot uses only two
wheels and motors for movement.Averyfamousapplication
of the self balancing robot is the Segway. Segway is readily
available in market since 2011 and is also termed as a
“Human Transporter”. It is used mostly to cover shorter
distances. It is a self balancing robot where human weight
and angle plays a vital role on controlling the movement of
the segway. These types of robots are based on the physical
theory of inverted pendulum. The system in itself requires
active control in order to be stable. The main aim of this
project is to use the self balancing robot interfaced with a
camera for Search and Rescue purposes. Mapping,
maneuvering and updating natural calamities,terrorattacks,
accidents explosions etc. To send the robot inside
unpredictable and hard-to-access areas like unknown and
narrow caves, where human interventionisnotpossibleand
is risky if tried blind eyed.
Key Words: Arduino Uno board,Raspberry Pi 3b,
MPU6050 gyroscope and accelerometer,L293D Motor
Driver, PI Camera
1. INTRODUCTION
Two –wheeled or self balancingrobotisanunstabledynamic
system unlike other four wheeled stale robots that are in
equilibrium state. By unstable, here, we mean that the robot
is free to fall ahead or backward direction without any
application of force. Self balancing means the robot
balancing itself in an equilibrium state, 90 degrees upright
position. This project works on the inverted pendulum
concept. We are making use of Arduino Uno to build the self
balancing robot. We are using the inertial measurementunit
MPU6050 for measuring the current tilt angle. A PID
controller will be able to control the pendulum angle. The
Raspberry pi, pi camera will help us determine the
surrounding conditions through live streaming and help in
the search and rescue operations. Having a clear idea of the
state of devastation prior to sending any human inside a
natural calamity struck area is the sole purpose of this
project. To provide important information about the
surrounding is why we are using a two wheeled robot
mounted with a camera and sensors which help him to
move.
2. Hardware Details
2.1 Arduino Uno
Arduino is an open-source arrange used for structure
devices adventures. Arduino contains both a physical
programmable circuit board (consistently insinuated as a
microcontroller) and a touch of programming, or IDE
(Integrated Development Environment) that continues
running on your PC, used to create and exchange PC code to
the physical board. Arduino Uno is a microcontroller board
dependent on the ATmega328P.It has 14 advanced
information/yield pins (of which 6 can be utilized as PWM
yields), 6 simple data sources, a 16 MHz quartz gem, a USB
association, a power jack, an ICSP header anda resetcatch.It
contains everything expected to help the microcontroller;
essentially associate it to a PC with a USB link or power it
with an AC-to-DC connector or battery to begin.
Figure 1 Arduino Uno Board
2.2 MPU6050
TheMPU6050isaMicroElectro-MechanicalSystems(MEMS)
which comprises of a 3-hub Accelerometer and 3-hub
Gyroscope inside it. This encourages us to gauge increasing
speed, speed, introduction, uprooting and numerous other
movement related parameter of a framework or article.

Figure 2 MPU6050
2.3 L293D Motor Driver
L293D is a run of the mill Motor driver or Motor Driver IC
which permits DC engine to drive on either course. L293D is
a 16-stick IC which can control a lot of two DC engines all the
while toward any path. It implies that you can control two
DC engine with a solitary L293D IC. Double H-connectMotor
Driver incorporated circuit
Figure 3 L293D Motor Driver
2.4 Raspberry Pi 3b
The Raspberry Pi display 3B comprises of 40 GPIO (General
Purpose Input Output) stick. The primarymotivationbehind
the GPIO pins is to associate I/O gadgets to the Raspberry pi.
I/O gadgets, for example, Camera andDisplayasofnowhave
explicit sloths on the raspberry pi board. So they don't have
to GPIO pins to interface themselves to the board. There are
distinctive elements of the 40 GPIO pins. Each stick has its
own apacity.
Figure 4 Raspberry PI 3b
2.5 Pi Camera
The Raspberry Pi camera module can be utilized to take
superior quality video, just as stills photos. It's anything but
difficult to use for tenderfoots, yet has bounty to offer
progressed clients in case you're hoping to grow your
insight. There are bunches of models on the web of
individuals utilizing it for time-slip by, moderate movement
and other video cunning. You can likewise utilize the
libraries we pack with the camera to make impacts.The
module has a five megapixel fixed-center camera that
bolsters1080p30,720p60furthermore,VGA90videomodes,
just as stills catch. It joins by means of a 15cm strip link to
the CSI port on the Raspberry Pi. It very well may be gotten
to through the MMAL and V4L APIs, and there are various
outsider libraries worked for it, including the Pi camera
python library.
3. Block Diagram and Working
The working of this project is divided between two
controllers, the Arduino uno and the Raspberry pi. We use
the Arduino uno mainly for the balancing of the robot.
Whereas, the Raspberry Pi is used for the live streaming
part.
The Arduino uno board with MPU6050 (gyroscope and
accelerometer) and motor driver IC L239D are solely
responsible for the balancing of the robot. The Arduino and
the L298N Motor driver module is straightforwardly fuelled
through the Vin stick and the 12V terminal separately. The
on-board controller on the Arduino board will change over
the information 7.4V to 5V and the ATmega ICandMPU6050
will be fuelled by it. The DC engines can keep running from
voltage 5V to 12V. In any case, we will interface the 7.4V
positive wire from battery to 12V info terminal of engine
driver module. This will influence the engines to work with
7.4V. The accompanyingtablewill listhowtheMPU6050and
L298N engine driver module is associated with Arduino.

Figure 5 Block Diagram
The MPU6050 communicates with Arduino through I2C
interface therefore we use the SPIpinsA4andA5ofArduino.
The two DC motors are connected to PWM pins D6, D9, D10
and D11. The need of connecting them to PWM pins is that
we will be controlling the speed of the DC motor by varying
the duty cycle of the PWM signals.
To keep the robot adjusted, the engines must neutralise the
robot falling. This activity requires criticism and revising
components. The input component is the MPU6050
(gyroscope and accelerometer), which gives both speeding
up and pivot in each of the three tomahawks. The Arduino
utilises this to know the redressing component is the engine
and wheel mix.
This is done by the implementation of the PID controller,
which is Proportional Integral Derivative Controller.
The proportional (P) term of the PID is based on the current
angle difference from Point Zero. The integral (I) termofthe
PID is based on the current angle difference or error from
point zero multiplied by the gain, which is accumulatedover
time. The integral control helps in balancing the robot if it is
moving. The derivative (D) term of the PID is derived from
the current rate of rotation.
Figure 6 PID Algorithm
We need to check if the robot is inclining towards the front
or towards the back utilizing the MPU6050 and after that if
it's inclining towards the front we need to turn the wheels
forward way and on the off chance that it is inclining
towards the back we need to pivot the wheels in the invert
bearing.
In the meantime we also need to control the speed at which
wheels are pivoting. If the robot is somewhat muddled from
focus position the wheels turn gradually and the speed
increment as it makes tracks in an opposite direction from
the middle position. To accomplish this rationale we utilize
the PID calculation, which has the inside position as set-
point and the dimension of bewilderment as the yield.
To know the present position of the robot we utilize the
MPU6050, which is a 6-pivot accelerometer and gyrator
sensor consolidated. So as to get a solid estimation of
position from the sensor we have to utilize the estimation of
both accelerometer and whirligig, in light of the fact that the
qualities from accelerometer has commotion issues and the
qualities from spinner will in general float with time. So we
need to join both and get the estimation of yaw pitch and
move of our robot, of which we will utilise just the
estimation of yaw.
For the robot to balance properly, it should have a good
centre of gravity. That can be achieved by properly placing
all the components on the hardware of the robot. The PID
controller values kp, kd, ki can be determined by trial and
error method. Or by connecting you Arduino and bot by the
serial port and testing the robot for desired angles. The
values that we used are kp=80, kd=6 and ki=200.Not all the
robots can work on the same values as mentioned.

Live streaming using Raspberry Pi and Pi camera:
We use Raspberry pi and a pi camera interfaced with it to
record and live stream the surrounding of the robot, The pi
and the pi camera will be mounted on the robot itself, which
will act as eyes to the robot, The live streaming offromthe pi
camera will be seen on a monitor connectedtotheraspberry
pi. The raspberry pi will work based on the python
commands given to it through the terminal. We can live
stream the recording on multiple monitors at the same time
by sharing the IP address of the Raspberry pi.
4. CONCLUSIONS
The robot balances itself on two wheels without falling and
with a slight jitter. The PID controller values are tried and
tested values as follows:
Proportional(kp)=80,
Derivative(kd) =6 and
Integral(ki)=200.
Live streaming from the pi camera mountedontherobotcan
be successfully observed on the monitor.
ACKNOWLEDGEMENT
We as a group have taken many efforts for this project.
However, it would not have been possible without the kind
support and help of many individuals. I would like to extend
my sincere thanks to them. I would like to thank our
principle, Dr Ajoy Kumar Sir for inspiration and guidance. I
am highly indebted to Prof. Kaveri Sawant Head of the
Department, Electronics and Telecommunication for her
guidance and constant supervision as well as providing us
with necessary information regarding the project and also
for his support in completing the project. I would like to
express my special gratitude and thanks to Prof. Sandeep
Dubey, our Project guide for providing me such attention
and time and always helping me and my team members as
well as guiding us throughout the project. I would like to
express my gratitude towards my other team members for
their kind co-operation and encouragement which helped
me in completion of the project. My thanks and appreciation
also goes to my classmates and friends who have always
been supportive and helpful. Lastly, I would like to thank
everyone who directly and indirectly helped me with this
project.
REFERENCES
[1] MathWorks. 2012. Control Tutorials for MATLAB and
SIMULINK, Inverted Pendulum. Available at:
http://ctms.engin.umich.edu/CTMS/index.php.exampleI
nverted Pendulumsection-SystemModeling. [Accessed
21 April 2015
[2] Arduino Uno. 2015. Arduino - ArduinoBoardUno .
Available at: http://www.arduino.cc/en/
main/arduinoBoardUno. [Accessed 22 April 2015]
[3] EMG30. 2010. Data sheet. Available at:
http://www.robot−electronics.co.uk/htm/emg30.htm
[Accessed 22 April 2015]
[4] Faragher, Ramsey. 2012. UnderstandingtheBasisofthe
Kalman Filter Via a SimpleandIntuitiveDerivation.IEEE
signal processing magazine.

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