Dreher, Marcel2014-01-142016-03-312014-01-142016-03-312013399672192http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-88953http://elib.uni-stuttgart.de/handle/11682/3232http://dx.doi.org/10.18419/opus-3215The following document describes the process, problems and solutions of the project "Two-Wheeled-Racer". The project focuses on constructing the robot and providing the core communication principles in addition with basic balancing control. The single-board computer Odroid-X2+ is used as a brain for the Racer to process the data received from an accelerometer and a gyroscope and solve the inclination angle problem. To reduce the noise of the sensors the data are filtered and combined with the help of a complementary filter. A PID control algorithm is running on the Odroid-X2+ to react on the inclination angle calculated from the sensor data and to prevent the robot from falling over. Two 30:1 gear motors controlled by a MD25 H bridge dual motor drive are used as actuators. The data are transferred among the hardware components with the help of the I2C protocol.eninfo:eu-repo/semantics/openAccess004masterThesis