Title :
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
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;
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
DOI :
10.1109/EMEIT.2011.6023680
