Boomboom Balancino Bot (BBB): Gyro-Stabilized Straight-Line Robot Using Mpu6050 Feedback Control

Abstract

This project presents the design and implementation of a BBB (BoomboomBalancinoBot) gyro-stabilized straight-line mobile robot that demonstrates the core principles of feedback and control systems using low-cost embedded hardware. The system uses an ESP32-C3 microcontroller, an MPU6050 inertial sensor, and a TB6612FNG motor driver to control a two-wheel differential-drive robot with a rear caster wheel. The robot estimates its yaw (heading) by integrating the MPU6050’s gyroscope Z-axis readings, then applies a closed-loop PID controller to minimize heading error by adjusting left and right motor speeds. A web-based interface allows users to command motion and switch between open-loop (feedback OFF) and closed-loop (feedback ON) operation, enabling clear demonstration of drift versus automatic correction under disturbances such as wheel slip or external pushing. The project highlights how real-time sensor feedback improves stability and accuracy in mobile robot navigation, closely relating to heading-hold control used in autopilot and course-keeping systems.