At this stage, wheeled robots are widely used in various fields. Usually, the gimbal is mounted above the wheeled robot as a platform for carrying other functional modules, and for the normal working environment of the module. We will use the traditional PID control algorithm to keep the gimbal relatively stable. However, in the face of complex terrain, the gimbal will be subject to huge disturbances from the chassis. The traditional PID algorithm has low robustness and cannot cope with this situation. In this paper, a fuzzy controller for the self-stabilization of the gimbal is added to the wheeled robot designed in the RoboMaster competition to maintain the stability of the gimbal under the condition of an uneven road to ensure that the gimbal has strong robustness. This robot uses STM32F427IH, the main control chip, and JetsonNanoA02, the host computer, with the FreeRTOS real-time operating system to complete the motion control of the robot.

For wheeled robots working in environments such as sand and slopes, due to the many ups and downs in the environment, they often encounter working states such as acceleration and climbing. This often requires its power supply to provide instantaneous high power, resulting in a large current discharge of the power supply, which seriously affects its service life. To solve this problem, this paper will use a composite power supply composed of supercapacitors and batteries to supply power to the robot chassis and use fuzzy control to perform closed-loop regulation on the output power of the batteries.