Riderless self-balancing bicycle

This project is aimed on the design and development of a two wheeled prototype vehicle that is capable of balancing with or
without a rider. The Autonomous bike will employ a control system to keep itself from falling over while stationary or in motion and will be able to attain an erect posture, it would be driven by a dc motor and a servo for steering control. Based on inverted pendulum concept, the goal of this project is to build a bike prototype capable of balancing itself using a reaction wheel. In order to maintain its self balance, the vehicle receives input from MPU-6050 sensor and calculates the tilt angle and reacts accordingly to maintain a vertically erect posture on its two wheels . Sensor data is first processed to get a noiseless data of the bike state then fed into a control system which outputs a signal to drive the motor coupled to the reaction wheel which generates a counter force to oppose the inclination of bike. The requirements include that the bike should be capable of balancing vertically without falling over.

Keywords: Self balancing bike, Reaction wheel, Gyroscopic sensor, PID control system.