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1 Bulletin of the Polish Academy of Sciences. Technical Sciences

1 2022

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

Laddach Krzysztof, Łangowski Rafał, Zubowicz Tomasz

Bulletin of the Polish Academy of Sciences. Technical Sciences

2022

Vol. 70, nr 2

art. no. e140518

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.