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, - 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.
Keywords
Cite
@article{arxiv.2309.12169,
title = {Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters},
author = {Krzysztof Laddach and Rafał Łangowski and Tomasz Zubowicz},
journal= {arXiv preprint arXiv:2309.12169},
year = {2023}
}
Comments
Key words: estimation; filters; measurement filtration; measurement system; two-wheeled balancing robot