Presentation Date: Feb 14, 2026
AGSA Abstract
The rapid advancement in robotics has generated increasing interest in autonomous systems capable of performing complex tasks across varied environments. A fundamental concept for achieving autonomy in robotic systems is the ability to self-balance. Self-balancing describes a situation in which a system maintains a specified position regardless of external forces acting on it. Self-balancing robots, especially two-wheeled designs, have attracted considerable attention due to their agility, manoeuvrability in tight spaces, and energy efficiency compared to multi-wheeled models. Therefore, in the pursuit of developing a robust autonomous system, this work focuses on designing, developing, and implementing a two-wheeled self-balancing autonomous delivery robot using a Proportional-Integral-Derivative (PID) control algorithm. The robot is crafted to sustain dynamic stability while performing autonomous navigation and obstacle avoidance for last-mile logistics. Moreover, this work addresses the inherent instability of a two-wheeled system, akin to an inverted pendulum, by employing an Inertial Measurement Unit (IMU) to provide real-time orientation data (pitch and roll angles). The PID controller processes this data to produce suitable motor commands, ensuring the robot remains upright. Additionally, ultrasonic sensors are incorporated for obstacle detection and avoidance, allowing the robot to navigate dynamic environments safely and autonomously. The simulation and real-world results demonstrate the promising capabilities of the proposed PID controller in maintaining stability and self-balancing, as well as in navigating obstacles. This validates the system's experimental ability to achieve self-balancing and autonomous delivery.
