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Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters
Abstract
A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has been considered. The measurements have been corrected for deterministic disturbances and then filtered with Kalman, α-β type, and complementary filters. A quantitative assessment of selected filters has been given. As a result, the complete structure of a measurement system has been obtained. The performance of the proposed measurement system has been validated experimentally by using a dedicated research rig.
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- Accepted or Published Version
- DOI:
- Digital Object Identifier (open in new tab) 10.24425/bpasts.2022.140518
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Details
- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
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Bulletin of the Polish Academy of Sciences-Technical Sciences
no. 70,
ISSN: 0239-7528 - Language:
- English
- Publication year:
- 2022
- Bibliographic description:
- Laddach K., Łangowski R., Zubowicz T.: Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters// Bulletin of the Polish Academy of Sciences-Technical Sciences -Vol. 70,iss. 2 (2022),
- DOI:
- Digital Object Identifier (open in new tab) 10.24425/bpasts.2022.140518
- Sources of funding:
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- Polish MEiN under Young Researcher Support Program
- Verified by:
- Gdańsk University of Technology
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