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

• Autorzy: Laddach Krzysztof , Łangowski Rafał , Zubowicz Tomasz

Identyfikatory

DOI

10.24425/bpasts.2022.140518

• Języki publikacji: EN

Abstrakty

EN

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, a–b 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.

Słowa kluczowe

EN

estimation; filters; measurement filtration; measurement system; two-wheeled balancing robot

PL

oszacowanie; filtr; pomiar filtracji; system miar; robot dwukołowy balansujący

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2022
• Tom: Vol. 70, nr 2
• Strony: art. no. e140518
• Opis fizyczny: Bibliogr. 48 poz., rys., tab.

Twórcy

autor

Laddach Krzysztof

• Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland

• https://orcid.org/0000-0001-9122-2167

autor

Łangowski Rafał

• Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland

• https://orcid.org/0000-0003-1150-9753

autor

Zubowicz Tomasz

• Gdańsk University of Technology, ul. G. Narutowicza 11/12, 80-233 Gdańsk, Poland

• https://orcid.org/0000-0002-0270-2474

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).