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Self-Balancing Robot
Introduction
Self-balancing robot capable of moving while avoiding obstacles. This is a small-sized robot based on the Arduino Pro Mini development board and the MPU6050 accelerometer-gyroscope module.
It will help me understand the concept of self-balancing for a future OFF-ROAD robot project. I will use the PID library for this purpose.
General Description
MPU9250 (Accelerometer + Gyroscope + Magnetometer Module)
Connected to the Arduino via I²C:
- SCL → A5 (SCL)
- SDA → A4 (SDA)
- Provides motion, tilt, and orientation data for balance control.
Arduino Pro Mini
- Central microcontroller managing sensor input and motor control.
- Receives data from MPU9250 and controls the motor driver.
- Pins 2, 3, 4, 5, 6, 7, 8, and 9 are used for communication and control.
TB6612FNG (Motor Driver Module)
- Receives control signals from Arduino to drive the left and right motors.
- Outputs:
- BOUT1, BOUT2 → Left Motor
- AOUT1, AOUT2 → Right Motor
HC-SR04 (Ultrasonic Distance Sensor)
- Connected to Arduino for obstacle detection.
- Uses TRIG and ECHO pins for distance measurements.
- Helps in obstacle avoidance while balancing.
5V Regulators (x2)
- Regulate power from the battery to provide a stable 5V supply.
- Connected to battery terminals via red (+) and black (–) lines.
Battery (NCR18650)
- Provides the primary power source for all components via terminals.
- Positive and negative rails are color-coded: red for +, black for –.
Based on the tilt angle, Arduino sends commands to the TB6612FNG motor driver to adjust the rotation of the left and right motors to balance the robot.
The HC-SR04 sensor detects nearby obstacles and is used to alter motor behavior to avoid collisions.
Hardware Design
| Name | Description |
|---|---|
| Arduino Pro Mini | Controller for modules and central processing unit |
| MPU9250 Module (accelerometer + gyroscope + magnetometer) | Detects tilt, acceleration, and orientation for balance control |
| TB6612FNG Motor Driver | Drives left and right motors based on Arduino commands |
| HC-SR04 Distance Sensor | Measures distance to obstacles for collision avoidance |
| 5V Regulators (2x) | Stabilize voltage supply for Arduino, sensors, and motors |
| NCR18650 Battery | Main power source for the entire system |
| DC Motors | Provide motion to balance and move the robot |
| Jumper Wires | Electrical connections between components |
| XH2.54 Connectors | Secure and detachable module connections |
Software Design
- mediu de dezvoltare (if any) (e.g. AVR Studio, CodeVisionAVR)
- librării şi surse 3rd-party (e.g. Procyon AVRlib)
- algoritmi şi structuri pe care plănuiţi să le implementaţi
- (etapa 3) surse şi funcţii implementate
Rezultate Obţinute
Concluzii
Download
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Jurnal
Bibliografie/Resurse
