Konstruktion av tvåhjulig balanserande robot

Sammanfattning

This report discusses the development of an autonomous system that can travel a distance of at

least 30 meters on two wheels. The system, the robot, detects black lines and stops if one is

detected. A remote control can be used to start and stop the robot. The robot is constructed of

mainly steel with smaller, more detailed, parts in plastic. A significant amout of time has been

used to enable the robot to balance on its own. Balancing works with the aid of a gyroscope and

regulation of center of mass.

The software for the robot is written in the programming language C and is programmed on a

microcontroller, an ATMega16, and developed using AVR Studio 5.1.