Design and implementation of a low-cost, modular two-wheeled balancing vehicle with bluetooth gesture interface
DOI:
https://doi.org/10.56294/dm2026826Keywords:
Gesture control, Cascaded PID, Adaptive mechanical median, Wireless transmissionAbstract
Two-wheeled self-balancing vehicles have attracted considerable attention due to their compact structure and high maneuverability. However, conventional designs typically restrict the payload to the vertical axis in order to maintain mechanical centering, and most remote-control schemes rely on button-based interfaces; research on non-contact, gesture-based control remains insufficient. This study aims to develop a gesture-controlled self-balancing vehicle capable of adapting to lateral load variations. A gesture sensor is employed to recognize nine predefined gestures-forward, backward, left, right, approach target, retreat from target, clockwise rotation, counter-clockwise rotation, and wave. A cascaded PID control architecture combined with an adaptive mechanical-centering compensation algorithm dynamically adjusts the balance set-point according to the position of the counterweight. Attitude data are acquired at 100 Hz via the I²C interface from the MPU6050’s built-in DMP unit, while gesture commands are transmitted over Bluetooth at a baud rate of 9600 baudios. Experimental results demonstrate that, even with a lateral load offset of 3 cm and a mass of 150 g, the system maintains stable equilibrium, with attitude oscillations confined within ±2°, and gesture response latency below 120 ms. The nine predefined gestures successfully enable forward/backward motion, turning in various directions, in-place rotation in both directions, assessment of obstacle proximity, and stopping. The proposed method effectively expands control and load flexibility while preserving stability, providing a feasible reference for research on non contact gesture-controlled intelligent mobile platforms.
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Copyright (c) 2026 Songjie Wu, Yang Yang, Jipeng Mo (Author)
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