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Delivery Bike is a self balancing bike based on LQR control system and reaction wheel mechanism

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Delivery Bike (e-Yantra)

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About The Project

In this theme, we will develop a Self-Balancing Bike, which will deliver various items throughout the cityscape. The delivery order will be decided by the priority of the package, thus posing a challenge in path planning. While development, we will learn the basics of the Control System and LQR controller design. The main challenges faced in this theme will be:

  1. Balancing of 2-wheeled Delivery Bike
  2. Autonomous Navigation of Delivery Bike
  3. Pickup and delivery in the arena

Learnings: Robot Simulation (CoppeliaSim), Control Systems, Euler-Lagrange Mechanics, Linear Quadratic Regulator, Lua Programming, Octave Programming, 3D Designing

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simulation

Click here to view the hardware implementation

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License

MIT License

Note: This repository was made public only after the competition ended and the final code was uploaded for future references.

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Delivery Bike is a self balancing bike based on LQR control system and reaction wheel mechanism

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