Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors

被引：54
作者：
Lee, Hyungjik [1 ]
Jung, Seul [1 ]
机构：
[1] Chungnam Natl Univ, Dept Mechatron Engn, Intelligent Syst & Emot Engn Lab, Taejon, South Korea
来源：
MECHATRONICS | 2012年 / 22卷 / 01期
关键词：
Mobile inverted pendulum system; Sensor fusion; Kalman filter; Control hardware; POSITION CONTROL; SYSTEM;
D O I：
10.1016/j.mechatronics.2011.11.011
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article presents balancing and navigation control of the balancing robot called MIPS. MIPS is a mobile inverted pendulum system whose structure is a combination of a wheeled mobile robot and an inverted pendulum system. MIPS can navigate on the horizontal plane while balancing the pendulum body. Control performance relies upon the accuracy of sensors to measure a tilted angle. Low cost gyro and tilt sensors are used and fused to detect a balancing angle. Digital filters are selectively designed for sensors to measure an inclined angle accurately with respect to different frequencies. Performances of balancing and navigation of the MIPS are tested by experimental studies through remote control. Crown Copyright (C) 2011 Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：95 / 105
页数：11
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