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http://dx.doi.org/10.9708/jksci.2010.15.10.129

Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer  

Kang, Jin-Gu (극동정보대학 자동차튜닝과)
Publication Information
Journal of the Korea Society of Computer and Information / v.15, no.10, 2010 , pp. 129-136 More about this Journal
Abstract
In this paper proposed the sensor fusion algorithm between a gyroscope and an accelerometer to maintain the inverted posture with two wheels which can make the robot body move to the desired destination. Mobile inverted robot fall down to the forward or reverse direction to converge to the stable point. Therefore, precise information of tilt angles and quick posture control by using the information are necessary to maintain the inverted posture, hence this paper proposed the sensor fusion algorithm between a gyroscope to obtain the angular velocity and a accelerometer to compensate for the gyroscope. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. However, a high-performing DSP and systems are needed for the algorithm. This paper realized the robot control method which is much simpler but able to get desired performance by using the sensor fusion algorithm and PID control.
Keywords
two wheel; sensor fusion; gyro-accelerometer; inverted; Kalman Filter;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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