Framework of Control and Stabilization System for an Inverted Pendulum Moving Robot

摘要

Two wheeled inverted pendulum robot which has just two driving wheels is attracted as an interesting mobile robot for several applications over the last decade. In this study, we show a framework for the mobile robot constructed by the inverted pendulum mobile robot for a project “KoRo” in our university. It is necessary to be composed by several sensors, namely sensor fusion techniques, such as a laser scanner, an USB camera, a gyro and so on. The framework of the mobile robot composed by RT middleware component with some sensors were mainly investigated.