Self-balancing car based on ARDUINO UNO R3

This paper uses a simple two-wheel self-balancing car as the design platform., the gesture sensing system with MPU6050 serves as the main sensor. The data of two sensors are filtered and fused by discrete Kalman Filter. ARDUINO is a nuclear control processor to complete the processes of data collection, analysis, processing and body control. PID control algorithm is adopted to realize two wheels which are self-balancing and use mobile APP to connect with Bluetooth in order to send commands to control the car's movement. The experimental results show that the performance of the system meets requirements of this design.