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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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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

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