Category Archives: Electronics

Obstacle avoidance robot

This is my attempt at building a really good obstacle avoidance robot. The robot is built to drive around a normal indoor environment without getting stuck on stuff. The robot uses an Arduino Maga 2560 and several sonar sensors to detect obstacles.

This robot also has a Raspberry Pi and camera module, that will be used for computer vision experiments in the future.

More info about this robot on the obstacle avoidance robot page

Obstacle avoidance with the Prototype Rover 1

I have built an obstacle avoidance robot I built to test a few ideas I had and learn more about what it takes to make robot robot that can navigate around an indoor environment without getting stuck on things. I will also use this robot to experiment with line following and maybe line-maze solving in the future.

You can reed more about this new robot here: Prototype Rover 1 page

Balancing robot rebuild

I have rebuilt my balancing robot. The reason was that I wanted to fit more sensors and functions, and there where no space for that in the previous design. I have also rewritten all the code and replaced the Kalman-filter I previously used for angle estimation with a complimentary filter instead. This in combination with a higher center of mass have made the robot a lot more stable and tolerant against pushes and other disturbances.

A Kalman-filter should work better than a complimentary filter, but the Kalman-filter is a lot more complicated. Since I do not understand exactly how the Kalman-filter worked, it was to hard for my to tune it properly. The estimated angle of the robot was reacting to slow. My current solution with a complimentary filter is much more responsive. That allowed me to increase the parameters of my PID regulators to make the robot more stable.

IR sensors on the self balancing robot

This video shows some new IR distance sensors I have installed on my self balancing robot robot. The IR sensors are short range (5-10 cm) and should prevent the robot from running into things that the main ultrasonic sensors miss. The video also shows two servos I have installed under the robot. They are not connected yet, but they will later be used to raise the robot up again if it falls over.