Research on Filtering Problem in Inertial Sensors for a Two-Wheeled Self-Balanced Robot

Abstract

Aiming at the random drift error from inertial sensors of a two-wheeled self-balanced robot attitude measuring,a simple and practical filtering algorithm based on Kalman filter which was implemented to information fusion for inclinometer and gyroscope was proposed,thus realizing optimal estimation for the robot gesture signal after sensors error compensation.The experimental results showed that the method based on Kalman information fusion to obtain the optimal estimation was effective and feasible.It is also beneficial to complete the robot self-balancing control.