engleski

Self Balancing Vehicle for Extreme Environment

The paper presents hardware design of self balancing vehicle. Vehicle is based on Segway concept with improvements on GPS tracking system, integration of Android API (Application programming interface) control and monitoring system. Wireless Sensor Network (WSN) installation enhances the operation of the vehicle and creates MESH network of such vehicles on the field. The IEEE 802.15.4 (ZigBee) wireless technology is used for interconnection in the field. XBee PRO modules are used in application algorithm with bridge to AVR microcontroller architecture (XMEGA). The adapted embedded system allows multiple-channel mode with special priorities. Second wireless technology used for Android API is IEEE 802.15.3 (Bluetooth). Custom firmware development include ANSI C open – source. Programming new peripheral interface allows the connection of additional sensors and actuators. Control system, regarding to response, installing the encoder at each gearbox of engine improves better performances of vehicle system for extreme environment.

Self balancing vehicle; Segway; Android API; Wireless Sensor Network (WSN); XBee PRO (ZigBee); AVR microcontroller architecture (XMEGA); Regulator control system

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