Search
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.
Citations
-
0
CrossRef
-
0
Web of Science
-
0
Scopus
Authors (3)
Cite as
Full text
download paper
downloaded 125 times
- Publication version
- Accepted or Published Version
- DOI:
- Digital Object Identifier (open in new tab) 10.24425/bpasts.2022.140518
- License
-
open in new tab
Keywords
Details
- Category:
- Articles
- Type:
- artykuły w czasopismach
- Published in:
-
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:
-
- Polish MEiN under Young Researcher Support Program
- Verified by:
- Gdańsk University of Technology
seen 142 times