Segway Fault Patrick Lloyd Undergraduate Student Electrical Engineering

Robot Overview 2 wheeled platform Self-balancing > 3 Hour run time < 4 pounds Uses accelerometer data to determine uprightness

Hardware 2x – Brushed DC motors 2x – H-Bridge motor controllers 1x – 9DOF IMU 1x – 4 cell (2S1P) LiFePo4 Battery 1x – Arduino 2x – Sonar sensors

Meet the Robot

Software Mahony/Madgwick Data Fusing Algorithm Uses quaternions to combine IMU data Avoids problems of gimbal lock Computationally inexpensive

Software PID Controller Proportional – Provides fast response time Integral – Minimizes steady state error Derivative – Predicts system behavior

Data

Questions?