実IMUと各種フィルタを用いた二輪バランスロボットの角度位置推定
Estimation of the angular position of a two-wheeled balancing robot using a real IMU with selected filters
ジャイロ・加速度・エンコーダを組み合わせた低コスト計測系で、カルマン・α-β・相補フィルタを比較し、二輪バランスロボットの姿勢推定精度を実験的に検証した。
著者: Krzysztof Laddach, Rafał Łangowski, Tomasz Zubowicz
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
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, $\alpha$-$\beta$ 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.