@article{ART001490118},
author={Kang Jin-gu},
title={Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2010},
volume={15},
number={10},
pages={129-136}
TY - JOUR
AU - Kang Jin-gu
TI - Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer
JO - Journal of The Korea Society of Computer and Information
PY - 2010
VL - 15
IS - 10
PB - The Korean Society Of Computer And Information
SP - 129
EP - 136
SN - 1598-849X
AB - In this paper proposed the sensor fusion algorithm between a gyroscope and an accelerometer to maintain the inverted posture with two wheels which can make the robot body move to the desired destination. Mobile inverted robot fall down to the forward or reverse direction to converge to the stable point. Therefore, precise information of tilt angles and quick posture control by using the information are necessary to maintain the inverted posture, hence this paper proposed the sensor fusion algorithm between a gyroscope to obtain the angular velocity and a accelerometer to compensate for the gyroscope. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. However, a high-performing DSP and systems are needed for the algorithm. This paper realized the robot control method which is much simpler but able to get desired performance by using the sensor fusion algorithm and PID control.
KW - two wheel;sensor fusion;gyro-accelerometer;inverted;Kalman Filter
DO -
UR -
ER -
Kang Jin-gu. (2010). Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer. Journal of The Korea Society of Computer and Information, 15(10), 129-136.
Kang Jin-gu. 2010, "Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer", Journal of The Korea Society of Computer and Information, vol.15, no.10 pp.129-136.
Kang Jin-gu "Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer" Journal of The Korea Society of Computer and Information 15.10 pp.129-136 (2010) : 129.
Kang Jin-gu. Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer. 2010; 15(10), 129-136.
Kang Jin-gu. "Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer" Journal of The Korea Society of Computer and Information 15, no.10 (2010) : 129-136.
Kang Jin-gu. Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer. Journal of The Korea Society of Computer and Information, 15(10), 129-136.
Kang Jin-gu. Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer. Journal of The Korea Society of Computer and Information. 2010; 15(10) 129-136.
Kang Jin-gu. Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer. 2010; 15(10), 129-136.
Kang Jin-gu. "Pose Control of Mobile Inverted Pendulum using Gyro-Accelerometer" Journal of The Korea Society of Computer and Information 15, no.10 (2010) : 129-136.
