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Real Time Pose Control for the Horizontal Maintenance and driving of Mobile Inverted Pendulum

  • Journal of The Korea Society of Computer and Information
  • Abbr : JKSCI
  • 2011, 16(7), pp.157-164
  • Publisher : The Korean Society Of Computer And Information
  • Research Area : Engineering > Computer Science

Kang Jin-gu 1

1강동대학교

Accredited

ABSTRACT

In this paper, configuration control for the Horizontal Maintenance and driving of the mobile inverted pendulum robot has been studied using ARS(Attitude Refrence System). The inverted pendulum technique is getting attention and there have been many researches on the seg-way since the US. Using its 2 freedom, a mobile inverted pendulum robot can move in various modes and Our robot performs goal reaching ARS. Mobile inverted pendulum robot fall down to the forward or reverse direction to converge to the stable point. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. To calculate the attitude in ARS using 2 axis gyro(roll, pitch) and 3 axis accelerometers (x, y, z). In this paper we present a two wheel robot system for an autonomous mobile robot. This paper realized the robot control method which is much simpler but able to get desired performance by using the IMU and PID control.

Citation status

* References for papers published after 2022 are currently being built.