Development of a Self-Balancing robot utilizing FPGA

Langley, Ryan (2016) Development of a Self-Balancing robot utilizing FPGA. Honours thesis, Murdoch University.

Abstract

The popularity of self-balancing vehicles in modern times is rising as the price of consumer electronics is on a steady decline. Consumers have more access to smarter electronics and mechatronics devices. Self-Balancing vehicles have become an exciting new method of human transport that have the potential to redefine the way we traverse our cities. This document will outline the research, design, construction, implementation and analysis that has been undertaken to develop from the ground up, a scaled down version of a self-balancing vehicle. The two wheeled self-balancing robot discussed in this project will take advantage of National Instruments myRIO-1900 embedded hardware device and will utilize the Field Programmable Gate Array (FPGA) embedded hardware along with PID feedback control loops to achieve stabilization in this inherently unstable system. The final section of this document details the techniques used to achieve this objective and suggests future works for the project that would enable future students to take advantage of this new student engineering asset.

Item Type:	Thesis (Honours)
Murdoch Affiliation(s):	School of Engineering and Information Technology
Supervisor(s):	Lee, Gareth
URI:	http://researchrepository.murdoch.edu.au/id/eprint/38687

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