GPS tracking of self-balancing vehicle for extreme environment based on AndroidOS

The paper presents hardware design of self-balancing vehicle with integrated GPS tracking system based on Android API (Application programming interface). XBee PRO S2B module is used in identification process of existing solution (Segway) based on programmable WSN (Wireless sensor node/network). Control and monitoring system of laboratory experimental solution is based on AVR microcontroller architecture. Measured parameters data from 3-Axis (Gyroscope and Accelerometer) is recorded in database for analysis. After the design of laboratory experimental hardware solution, process identification is confirmed with mathematical model [1]. Controller and motor driver board is separated in two hardware versions. Each version has different kind of sensors and actuator electronics. Possibility of IEEE 802.15.4 (ZigBee) MASH is considered for network of multiple vehicles. Communication between embedded device (vehicle controller) and Android application uses RFCOMM and SPP interface based on Bluetooth protocol. Additional integrated GPS receiver in embedded device gives much better results in regarding coordinates than integrated GPS receiver in Android smart mobile phone.