Research on an improved two-wheeled robot

Author

Xiyu Li ; Chao Wei ; Tong Zhu ; Yiping Wang

Author_Institution

Sch. of Instrum. & Opto-Electron. Eng., Beijing Univ. of Aeronaut. & Astronaut., Beijing, China

Volume

6

fYear

2011

fDate

12-14 Aug. 2011

Firstpage

2785

Lastpage

2787

Abstract

Based on the traditional Two-wheeled Self-balancing Mobile Robot, through improved the control mode and changed the design of body, reduce car´s center of gravity, remove the auxiliary wheel and increase the car´s flexibility and stability. Merging the data of acceleration sensor and angular rate sensor to get angle, reduce noise of acceleration and drift of angular rate sensor, improve the control accuracy. Using complementary filter to reduce computation, decrease sensitivity of the body parameters.

Keywords

acceleration; automobiles; filtering theory; mobile robots; robot kinematics; sensor fusion; wheels; acceleration noise reduction; acceleration sensor; angular rate sensor drift; auxiliary wheel; car center of gravity reduction; car flexibility; car stability; complementary filter; multisensor system; two-wheeled self-balancing mobile robot; Acceleration; Educational institutions; Gravity; Low pass filters; Robot sensing systems; Wheels; Complementary filter; Moment equilibrium; Multi-Sensor; Two-wheeled Self-balancing Mobile Robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronic and Mechanical Engineering and Information Technology (EMEIT), 2011 International Conference on

Conference_Location

Harbin, Heilongjiang, China

Print_ISBN

978-1-61284-087-1

Type

conf

DOI

10.1109/EMEIT.2011.6023680

Filename

6023680