This paper proposes a design for a reaction wheel assisted self-balancing bicycle modelled as an inverted pendulum. The control system uses an inertial measurement unit to measure the angular displacement of the cycle and then employs a micro-controller, a high torque motor and a reaction wheel, to correct its position by calculating the corrective torque required. Additionally, the bicycle also offers a location tracking capability using a Global System for Mobile (GSM) and a Global Positioning System (GPS). The device can also be used as a rehabilitation and transportation device for disabled and senile individuals.
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