BMP: A self-balancing mobile platform

The development of two wheels self-balancing robot has gained more and more attention over the past years. It is suitable for working in outdoor environment especially where the ground is not flat. This paper describes our works on building a self-Balancing Mobile Platform named BMP. We build the dynamic model to find the relation between the robot posture and output voltages applying on the motors. An accelerometer and gyroscope are used to estimate the posture through Kalman filter algorithm. Then a multi-segment PID controller changes the motor voltage according to the platform motion mode and posture. The experiments are carried out in simulation, then on the real platform. The results of the experiments show that BMP works effectively and robustly.