This document presents a project proposal for developing a self-balancing two-wheeled robot (instructabot) using an Arduino microcontroller. The robot will use sensors to read its environment and a PID controller to balance itself. The aims are to demonstrate balancing techniques, design a discrete digital control system for stability, develop the chassis and software to read sensors and control actuators to enable the robot to stay upright. A literature review covers previous work on self-balancing robots and control systems. A planning chart outlines the project timeline over 16 weeks including proposal, purchasing, prototyping, testing and completion.

1. 3/12/2018 SELF-BALANCING
INSTRUCTABOT
Instrumentation Lab
HITEC University Taxila
PROJECT PROPOSAL
SUBMITTED BY:
USMAN 15-ME-023
ZEESHAN 15-ME-047
ABDULLAH 15-ME-075
SAFIULLAH 15-ME-123

2. SELF-BALANCING INSTRUCTABOT
Abstract:
A robot that is capable of balancing upright on its two wheels is known, as a two wheeled balancing
robot .This project will undertake the construction and implementation of a two-wheeled robot that
is capable of balancing itself. An inherently unstable platform that is highly susceptible to tipping
in one axis is made by assembling structural, mechanical, and electronic components of the bot.
Self-balancing robot is made using several basic components. One of these components is Arduino,
a microcontroller used for building and controlling digital devices that can interfere with the
physical world. The language used for coding is C++.
Aims and Objectives:
 To demonstrate the techniques involved in balancing an unstable robotic platform on two
wheels.
 To design a complete discrete digital control system that will provide the needed stability.
 Design and assemble the chassis of the robot.
 Develop the software to read from the sensors and to control the actuators.
 Implement a PID controller to enable the robot to stay upright.
Introduction:
Two wheeled balancing robots are based on inverted pendulum configuration, which relies upon
dynamic balancing systems for balancing and maneuvering. This robot basis provides exceptional
robustness and capability due to their smaller size and power requirements. Such robots find their
applications in surveillance and transportation purpose. In particular, the focus is on the electro-
mechanical mechanisms & control algorithms required to enable the robot to perceive and act in
real time for a dynamically changing world.

3. Robotics has always played an integral part of the human psyche. The dream of creating a machine
that replicates human thought and physical characteristics extends throughout the existence of
humankind. Developments in technology over the past fifty years have established the foundations
of making these dreams come true. Robotics is now achievable through the miniaturization of the
microprocessors, which performs the processing, and computations. New forms of sensor devices
are being developed all the time further providing machines with the ability to identify the world
around them in so many different ways.
Effective and efficient control system designs provide the robot with the ability to control itself
and operate autonomously. Artificial intelligence (AI) is becoming a definite possibility with
advancements in non-linear control systems such as neural networks and fuzzy controllers.
Improved synthetics and materials allow robust and cosmetically aesthetic designs, which can be
implemented for the construction and visual aspects of the robot. Two wheeled robots are one
variation of robot that has become a standard topic of research and exploration for young engineers
and robotic enthusiasts. They offer the opportunity to develop control systems that are capable of
maintaining stability of an otherwise unstable system. This type of system is also known as an
inverted pendulum. This research project aims to bring this, and many of the previously mention
aspects of a robot together into the building of a two wheeled balancing robot with a non-linear,
fuzzy controller. This field of research is essential as robots offer an opportunity of improving the
quality of life for every member of the human race. This will be achieved through the reduction of
human exposure to hazardous conditions, dangerous environments and harmful chemicals and the
provision of continual 24 hours assistance and monitoring for people with medical conditions, etc.
Robots will be employed in many applications within society including careers, assistants and
security.
Literature Review:
[1] SELF BALANCING ROBOT by Mrs.LEKSHMY.S1, ALEESHA GEORGE2, ATHIRA C.V3
Volume2, Issue 12, December-2015, pp.1091-1095 ISSN (O): 2349-7084
[2] Autonomous Dual Wheel Self Balancing Robot Based on Microcontroller
J. Basic. Appl. Sci. Res., 3(1)843-848, 2013 ISSN 2090-4304
[3] 2013 10th IEEE International Conference on Control and Automation (ICCA)
Hangzhou, China, June 12-14, 2013. Design and Control of a Two-Wheel Self-Balancing Robot
using the Arduino Microcontroller Board by Hau-Shiue Juang

4. Planning Chart and Flow Chart:
Weeks 1 - 2 3 - 4 5 - 6 7 - 8 9 - 10 11 - 12 13 - 14 15 - 16
Project
Selection
Design&
Proposal
Model
Manufacturi
ng
Final
Presentation
Flow Chart:
References:
http://www.ijcert.org/V2I1249.pdf
https://open.library.ubc.ca/cIRcle/collections/undergraduateresearch/52966/items/1.0074460
http://ieeexplore.ieee.org/abstract/document/6565146/?reload=true
http://ieeexplore.ieee.org/abstract/document/6021250/
Topic Selection
Proposal
Purchasing of
Components
Model
Development
Design of
Prototype
Prototype Testing
Final Model