ROS-based Controller for a Two-Wheeled Self-Balancing Robot
Juan Díaz-Téllez,
Ruben Senen García-Ramírez,
Jairo Pérez-Pérez
et al.
Abstract:In this article, a controller based on a Robot Operating System (ROS) for a two-wheeled self-balancing robot is designed. The proposed ROS architecture is open, allowing the integration of different sensors, actuators, and processing units. The low-cost robot was designed for educational purposes. It used an ESP32 microcontroller as the central unit, an MPU6050 Inertial Measurement Unit sensor, DC motors with encoders, and an L298N integrated circuit as a power stage. The mathematical model is analyzed through… Show more
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