Research on an improved two-wheeled robot

Based on the traditional Two-wheeled Self-balancing Mobile Robot, through improved the control mode and changed the design of body, reduce car's center of gravity, remove the auxiliary wheel and increase the car's flexibility and stability. Merging the data of acceleration sensor and angular rate sensor to get angle, reduce noise of acceleration and drift of angular rate sensor, improve the control accuracy. Using complementary filter to reduce computation, decrease sensitivity of the body parameters.