Linas Kondrackis
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PID control exploration for self-balancing robot

Robotics • Computer Vision • Lego Mindstorms EV3

The task given to us consisted of four stages:

  • Construct a two-wheeled robot that can balance itself. Usage of official Lego instructions for both robot design and the code was permitted, allowing us to quickly come up with a working system.
  • Experiment with different variables in the PID control and analyze the robot behavior.
  • Find such values in the PID control that the robot struggles to keep balance, but does not completely fall over.
  • Implement either line following using an IR color sensor or obstacle avoidance using an ultrasonic sensor. We have chosen to perform the latter. The robot was redesigned to have a rotating head to scan the environment and would move where no objects were detected.

Report: Google Drive

If you would like to take a look at the code, please contact me.



  • Category: Projects
  • Date: February 2016 - March 2016
  • Collaborators: Dalius Grazinskis

Front of the robot as it is running.

Side of the robot as it is running.

Example procedure for the robot to look around and choose an obstacle-free path before going. This is also an example of the block-based language we used to write the program.