- Tytuł:
- 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 - Powiązania:
- https://bibliotekanauki.pl/articles/2173655.pdf
- Data publikacji:
- 2022
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
estimation
filters
measurement filtration
measurement system
two-wheeled balancing robot
oszacowanie
filtr
pomiar filtracji
system miar
robot dwukołowy balansujący - Opis:
- 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.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 2; art. no. e140518
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł