Self-Balancing-Robot_ROS2

This project simulates a Self-Balancing Robot that can balance itself using either a classical control system (LQR) or a learned policy (PPO).

Key Features

• ROS2 Humble and Gazebo Classic-based simulation.
• IMU sensor for real-time tilt estimation
• Two Balancing strategies:
  • Linear Quadratic Regulator (LQR) for classical control
  • Proximal Policy Optimization (PPO) for reinforcement learning