Self-Balancing Robot Using Raspberry Pi and PID Controller
Self-Balancing Robot Using Raspberry Pi and PID Controller
Volume 6, Issue 4, April – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
Self-Balancing Robot Using Raspberry Pi and PID
Controller
Yadav Ashwini Ramchandra Thorat Monika Ankush
Electronics & Telecommunication Electronics & Telecommunication
Jaywant college of Engineering & Polytechnic Jaywant college of Engineering & Polytechnic
K.M.Gad, Sangli, India K.M.Gad, Sangli, India
Mulla Sapura Salim Patil Zunjar Vasantrao
Electronics & Telecommunication Electronics & Telecommunication
Jaywant college of Engineering & Polytechnic Jaywant college of Engineering & Polytechnic
K.M.Gad, Sangli, India K.M.Gad,Sangli, India
Abstract:- An In essence, a self-balancing robot is an two-wheeled robot that can stand upright on its own. The aim
inverted pendulum. If the center of mass is higher than of this research is to show that a PID controller with more
the wheel axels, it can balance better. A higher center of controllability and adjustability outperforms a conventional
mass translates to a higher moment of inertia, which PID controller. The research revealed the most suitable
translates to a lower angular acceleration. It functions like definition for implementing PID- on a real-world device.
a self-balancing robot. The experiment necessitates the
use of a Raspberry Pi and the L293D driver module. The 1.1 Relevance
robot's balance can be achieved with the aid of feedback Several researchers have collaborated on the creation of
and a correction factor. The feedback element is the a PID controller for the Raspberry Pi. The feedback (as an
component that informs the Raspberry Pi about the axis) from accelerometers is used to align the robot in three
robot's current orientation. The experiment primarily directions. We'll use the Raspberry Pi to create a PID
employs a PID controller with gains Kp, Ki, and Kd. PID controller. We present a self-balancing Robot to represent the
corrects the difference between the desired and real controlling role.
values. Error is the difference between input and output.
By changing the output, the PID controller reduces the 1.2 Objective
error to the smallest value possible. The current tilt of the Our main goal is to find a low-cost way to build a PID
robot is read by system dynamics and fed to the PID controller using the Raspberry Pi. To illustrate this
algorithm, which performs calculations to power the controlling feature, we use a self-balancing robot. Here are
motor and hold the robot upright. some of the goals for the self-balancing robot:
To get the robot to stand up in the shortest amount of time
Keywords:- Self-Balancing Robot; Raspberry Pi; PID with the least amount of overshoot.
Controller; Robot; Feedback Element; Correction Factor. To get the robot to roll along the horizontal a
predetermined distance while remaining upright.
I. INTRODUCTION To guide the robot so that it circles the corn. ers, if there is
time.
As with the well-known small personal transporter
known as the "Segway," the self-balancing robot stands on II. LETERATURE REVIEW
two wheels and maintains its balance without crashing. In
recent years, self-balancing robots based on the inverted Rajeshwari Madli [1] el al in “Automatic Detection and
pendulum principle have become a common research subject. Notification of Potholes and Humps on Roads to Aid Drivers”
Since the mechanism is non-linear and fully unstable, an Ultrasonic sensors are used to detect potholes and humps, as
inverted pendulum is a difficult control issue. To compensate well as to determine their depth and height. Using a global
for the robot's angular displacement, an external force type positioning system receiver, the proposed system captures the
motor is needed to keep it upright. A controller is the most geographical location coordinates of the potholes and humps.
critical component in stabilising the robot's system. A PID Flash notifications with an auditory beep are used to send out
controller (proportional integral-derivative controller) is the alerts.
most commonly used and simple controller, and it can be
used to improve both transient and steady-state responses. Moazzam et al. [2] “Metrology and visualization of
With a high order and high external noise system, however, potholes using the microsoft Kinect sensor,” a low-cost model
the PID controller is less powerful. This project shows how to for analysing 3D pavement distress images has been proposed
control the angular speed of the motor to hold the robot It employs a low-cost Kinect sensor that provides direct depth
upright using data from the accelerometer sensor to create a measurements, lowering computational costs. A RGB camera
IJISRT21APR314 www.ijisrt.com 321
Volume 6, Issue 4, April – 2021 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
and an IR camera make up the Kinect sensor, which captures and turn/yaw. A PID controller can be used to control each
both RGB and depth data. To assess the depth of potholes, state. The cycles of speed and pitch are intertwined, with one
these images are analysed in the MATLAB environment by pushing the other.
extracting metrological and characteristic features.
Using the Raspberry Pi 4 model, the proposed solution
Youquan et al. [3] “A research of pavement potholes is used to perform PID controlling functions. The duty cycle
detection based on threedimensional projection output from the control system is sent to the motors via 12V,
transformation,” created a model for detecting the three- 16 KHz square pulses. The entire procedure is carried out at a
dimensional cross section of a pothole in the pavement To frequency of 50 Hz. The robot is then moved around by
capture the image of the pavement, the system uses LED wheels, which keep it balanced.
linear light and two CCD (Charge Coupled Device) cameras.
To determine the depth of potholes, it uses various digital
image processing technologies such as image pre-processing,
binarization, thinning, three-dimensional reconstruction, error
detection, and compensation.
Orhan and Eren [4] “Road hazard detection and sharing
with multimodal sensor analysis on smart phones,” have
proposed a project to identify road hazards using an Android
platform. This proposed work is divided into three sections:
sensing, analysis, and sharing. The sensing portion collects
raw data from the accelerometer and synchronises it with the
gui, allowing for easy access. The values obtained from the
sensors are used to create analysis modules in the analysis Fig -1: Block diagram of proposed system.
component. The sharing aspect works like this: the built
system is linked to the central application, from which it can IV. CONCLUSIONS
interact directly with the social network.
The experimental results showed that using a cascaded
Mednis et al [5] “Real time pothole detection using PID control strategy in conjunction with a trajectory
Android Smartphone’s with accelerometers,” Using an controller was effective in achieving autonomous motion.
Android Smartphone with accelerometers, a real-time pothole Error detection and overall device reliability have been
detection model has been suggested. Modern Android achieved using PID controllers. Estimation noise is
smartphones have built-in accelerometers that detect responsible for the high frequency low amplitude noise
acceleration and vibrations. Potholes are detected using shown in the experimental response curves. Gear backlash
accelerometer data. To locate potholes, different algorithms causes the high amplitude disruption or oscillation at steady
are used, such as Z-thresh, which measures the acceleration state, as previously described. The trajectory controller has
amplitude at the Z-axis, Z-diff, which measures the difference demonstrated its ability to track a trajectory within reasonable
between the two amplitude values, STDEV (Z), which error limits.
calculates the standard deviation of vertical axis acceleration,
and G-Zero. REFERENCES
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