Implementation of Indoor Navigation Control for Two-Wheeled Self-balancing Robot

Two-wheeled self-balancing robots (TWSBR) overcomes the limitations of conventional three or four-wheeled robots by offering a zero-turning radius with two motors. The usage of conventional dc motors with encoders in these two-wheeled self-balancing robots requires a complex design and tuning of cascaded controllers. In this paper, we implement a model that reduces the complexity of the design, and we have implemented a simple low-cost indoor navigation technique along with it, to know about the robustness of the design. The proposed system uses stepper motors in place of dc motors such that a single controller can be used that reduces the complexity of the design. We have implemented laser-based navigational control along with obstacle avoidance control on this robot for the indoor environments to show the stability of the robot during the motion for reaching the destination goal along with the detection and avoidance of the obstacles in the path of the robot.