Self-Balancing Vehicle Control Loop Draft
Budget: $30 – $250 USD
For this project I need a draft of a control loop structure for a self-balancing vehicle (similar to a Segway). The control loop structure does not have to be perfect.
The control system includes the following aspects:
- Balancing (pitch)
- Position
- Speed
- Line following
- Cornering/turning
In words:
- The vehicle should be able to stand in place and balance itself.
- The vehicle should be able to drive straight ahead at a defined speed and over a given distance (relative and absolute).
- The vehicle should be able to drive a curve at a defined speed and radius/arc (relative and absolute).
- The vehicle should be able to follow a line (line following).
The vehicle contains the following hardware components:
- Electric motors on each side (BDCM) (6SVA80-033E)
- IMU (BNO08x 9-DoF)
- Time-of-Flight sensor (VL53L1X)
- Raspberry Pi camera for object detection
For better understanding I have uploaded a block diagram of the communication and a picture of the vehicle. ChatGPT:
The vehicle has two BDCM motors and two wheels (one motor per wheel). The task only includes drawing a block diagram (concept). The control loop structure should be cascaded. The screenshot is intended as a reference and should be expanded.
This is a rush job and I need the concept on 07 November 2025 at 7:00 AM. Payment will only be made then. I expect about one to two hours of work for an experienced person.
The control system includes the following aspects:
- Balancing (pitch)
- Position
- Speed
- Line following
- Cornering/turning
In words:
- The vehicle should be able to stand in place and balance itself.
- The vehicle should be able to drive straight ahead at a defined speed and over a given distance (relative and absolute).
- The vehicle should be able to drive a curve at a defined speed and radius/arc (relative and absolute).
- The vehicle should be able to follow a line (line following).
The vehicle contains the following hardware components:
- Electric motors on each side (BDCM) (6SVA80-033E)
- IMU (BNO08x 9-DoF)
- Time-of-Flight sensor (VL53L1X)
- Raspberry Pi camera for object detection
For better understanding I have uploaded a block diagram of the communication and a picture of the vehicle. ChatGPT:
The vehicle has two BDCM motors and two wheels (one motor per wheel). The task only includes drawing a block diagram (concept). The control loop structure should be cascaded. The screenshot is intended as a reference and should be expanded.
This is a rush job and I need the concept on 07 November 2025 at 7:00 AM. Payment will only be made then. I expect about one to two hours of work for an experienced person.