The self-balancing robot is an exciting advanced project that embodies the "inverted pendulum" problem well known in control engineering: a body standing on just two wheels that continuously keeps its balance through rapid, precise position correction, much like a person balancing on one foot.
Components needed
An Arduino Uno board, an MPU-6050 accelerometer/gyroscope module, an L298N motor driver module, two geared DC motors with wheels, and a suitable battery pack.
Wiring it up
The MPU-6050 module connects to the Arduino over I2C (pins A4 and A5), and the L298N module connects to digital pins that control each motor's direction and speed via PWM signals.
How it works: the PID control loop
The MPU-6050 module continuously and very rapidly reads the robot body's tilt angle away from vertical (tens or hundreds of times per second). This measurement feeds into a PID (proportional-integral-derivative) control algorithm, which calculates how far the current angle deviates from the ideal vertical position (zero degrees), and translates that deviation into a speed and direction value sent immediately to both motors via the L298N: if the robot tilts forward, the motors accelerate forward to bring it back to balance, and vice versa when it tilts backward. This loop repeats at very high speed so the corrective motion appears continuous and smooth, and the three PID coefficients (proportional, integral, derivative) need careful experimental tuning to achieve stable balance without excessive wobbling.
You can find the MPU-6050 module, the L298N driver module, and robot motors at Juthour Tech.
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