This research presents an improved mobile inverted pendulum robot called Two-wheeled Self-balancing robot (TWSBR) using a Proportional-Derivative Proportional-Integral (PD-PI) robust control design based on 32-bit microcontroller in a sensed environment (SE). The robot keeps itself balance with two wheels and a PD-PI controller based on the Kalman filter algorithm during the navigatio... https://www.rawafricaonline.com/