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Computer Science > Robotics

arXiv:2309.12169 (cs)
[Submitted on 21 Sep 2023]

Title:Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters

Authors:Krzysztof Laddach, Rafał Łangowski, Tomasz Zubowicz
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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, $\alpha$-$\beta$ 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.
Comments: Key words: estimation; filters; measurement filtration; measurement system; two-wheeled balancing robot
Subjects: Robotics (cs.RO); Systems and Control (eess.SY)
Cite as: arXiv:2309.12169 [cs.RO]
  (or arXiv:2309.12169v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2309.12169
Journal reference: Bulletin of the Polish Academy of Sciences-Technical Sciences, 70 (2022)
Related DOI: https://doi.org/10.24425/bpasts.2022.140518

Submission history

From: Krzysztof Laddach [view email]
[v1] Thu, 21 Sep 2023 15:26:06 UTC (3,720 KB)
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