Research On An Improved Two-wheeled Robot

摘要：

Based on the traditional Two-wheeled Self-balancing Mobile Robot, through improved the control mode and changed the design of body, reduce cars center of gravity, remove the auxiliary wheel and increase the cars 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.

关键词： Two-wheeled Self-balancing Mobile Robot Moment equilibrium Multi-Sensor Complementary filter

作者: Xiyu Li Tong Zhu Chao Wei Yiping Wang

作者单位: School of Instrumentation and Opto-electronics Engineering Beijing University of Aeronautics and Ast School of Mechatronical Engineering Beijing Institute of Technology Beijing, China

会议类型: 国际会议

会议名称: 2011 International Conference on Electronic & Mechanical Engineering and Information Technology(EMEIT 2011)(2011年机电工程与信息技术国际会议)

会议地点: 哈尔滨

会议语种:英文

页码: 2785-2787

在线出版日期: 2011-08-12（万方平台首次上网日期，不代表论文的发表时间）