Arduino-Powered Mobile Robot with Real-Time Balance Control

7th International Conference on Recent Academic Studies-ICRAS 2026, Konya, Türkiye, 17 - 18 Haziran 2026, cilt.1, sa.1, ss.1-4, (Tam Metin Bildiri)

This study addresses the design, implementation, and control of a two-wheeled robot system

capable of autonomously maintaining its balance. The developed system operates based on the inverted

pendulum principle and provides real-time balance control to maintain the robot's vertical position. In the

system architecture, the robot's tilt angle is continuously measured using an MPU6050 accelerometer and

gyroscope sensor, and the obtained data is processed using sensor fusion methods. A Complementary Filter

algorithm is applied to reduce sensor noise and obtain more accurate angle estimation. A PID (Proportional-

Integral-Derivative) controller is used as the control algorithm, and PID parameters are optimized

experimentally to ensure stable system operation. The robot's motion control is implemented via a motor

driver using PWM (Pulse Width Modulation) technology. The Arduino-based control unit processes the

data obtained from the sensors with low latency and sends instantaneous control signals to the motors. As

a result of the experimental studies, it was observed that the system responds quickly to external

disturbances and exhibits stable balance performance on the vertical axis. The results show that real-time

control algorithms, sensor fusion techniques, and motor drive applications can be successfully integrated

into embedded systems.