Design of Two-Wheeled Self-Balancing Robot Based on Sensor Fusion Algorithm

Jianhai Han; Xiangpan Li; Qi Qin

doi:10.20965/ijat.2014.p0216

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IJAT Vol.8 No.2 pp. 216-221

doi: 10.20965/ijat.2014.p0216

(2014)

Paper:

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Design of Two-Wheeled Self-Balancing Robot Based on Sensor Fusion Algorithm

Jianhai Han, Xiangpan Li, and Qi Qin

School of Mechatronics Engineering, Henan University of Science & Technology, No.48, Xiyuan Road, Luoyang 471003, China

Received:

October 11, 2013

Accepted:

February 13, 2014

Published:

March 5, 2014

Keywords:

PID, sensor fusion, accelerometer, gyroscope, two-wheeled self-balancing robot

Abstract

A two-wheeled, self-balancing robot is proposed using 6-axis MEMS sensors MPU6050 to measure its posture. The sensors integrated with a 3-axis gyroscope and a 3-axis accelerometer, can output the inclination of the robot based on sensor fusion algorithm. A handheld remote controller sends out commands to the robot such as forward, back, and turning around. According to the inclination and orientation commands, a 16-bit MCU using the PID control algorithm calculates the required control voltage for the motors, to adjust the robot’s posture and keep the body balanced. In this paper, the principle of the sensor fusion algorithm is fully described, and its effects are verified through related experiments. The experimental results show that the proposed robot is practical and able to balance using inexpensive MEMS sensors.

Cite this article as:

J. Han, X. Li, and Q. Qin, “Design of Two-Wheeled Self-Balancing Robot Based on Sensor Fusion Algorithm,” Int. J. Automation Technol., Vol.8 No.2, pp. 216-221, 2014.

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References

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[2] K. Yamafuji, M. Q. Feng, and T. Kawamura, “Robots driven by parallel bicycles,” Int. J. of Mechanics and Control, Vol.7, No.2, pp. 3-11, 2008.
[3] K. Yamafuji, Y. Miyakawa, and T. Kawamura, “Synchronous steering control of a parallel bicycle,” Trans. of JSME, 55-513C, pp. 1229-1234, 1989. (in Japanese)
[4] K. Yamafuji, “Inverted Pendulum Type Locomotive Robot Which Ascends a Slope of Maximum Inclination Angle of 30 Degrees,” J. of Robotics and Mechatronics, Vol.1, No.1, 1989.
[5] N. Hiraoka and T. Noritsugu, “Closed-loop posture control of parallel biwheel vehicle driven with a stepping motor,” Trans. of JSME, 61-592C, pp. 4638-4645, 1995. (in Japanese)
[6] N. Hiraoka and T. Noritsugu, “Velocity and position control of a parallel biwheel vehicle driven with a stepping motor,” Trans. of JSME, 63-613C, pp. 3207-3214, 1997. (in Japanese)
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[8] F. Grasser, A. D’Arrigo, S. Colombi, and A. C. Rufer, “JOE: A Mobile, Inverted Pendulum,” IEEE Trans. on Industrial Electronics, Vol.49, No.1, pp. 107-114, Feb. 2002.
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[12] M. Ishikawa, “Sensor Fusion : The State of the Art,” J. Robotics and Mechatronics, Vol.2, No.4, pp. 235-244, 1991.
[13] S. Nasiri, “A Critical Review of MEMS Gyroscopes Technology and Commercialization Status,” Inven Sense, 2003.
[14] MPU-6000 and MPU-6050 Product Specification, Revision 3.4,Retrieved from: http://invensense.com/mems/gyro/mpu6050.html. [accessed August 19, 2013]
[15] B. Barshan and H. F. Durrant-Whyte, “Inertial navigation systems for mobile robots,” Robotics and Automation, IEEE Trans. on, Vol.11, No.3, pp. 328-342, Jun. 1995.
[16] C.-C. Tsai, H.-C. Huang, and S.-C. Lin, “Adaptive Neural Network Control of a Self-Balancing Two-Wheeled Scooter,” Industrial Electronics, IEEE Trans. on, Vol.57, No.4, pp. 1420-1428, Apr. 2010.
[17] X.-Y. Wang, J.-H. Yan, X.-Z. Zang, Y. Qin, and J. Zhao, “A multisensory data fusion method of the two-wheeled self-balanced robot,” Chinese J. of Sensors and Actuators, Vol.20, No.3, pp. 668-672, 2007. (in Chinese)
[18] H. Kimura,M. Nakamura, N. Inou, M. Matsudaira, andM. Yoshida, “Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor),” J. of Robotics and Mechatronics, Vol.25, No.2, 2013.
[19] P. Y. Lam and T. K. Sin, “Gyroscopic Stabilization of a Self-Balancing Robot Bicycle,” Int. J. of Automation Technology, Vol.5, No.6, 2011.
[20] R. Imamura, T. Takei, and S. Yuta, “Sensor drift compensation and control of a wheeled inverted pendulum mobile robot,” Advanced Motion Control, 2008. AMC ’08. 10th IEEE Int. Workshop on, pp. 137-142, Mar. 26-28, 2008.
[21] R. E. Kalman, “A new approach to linear filtering and prediction problems,” J. of BasicEngineering, 82, pp. 35-45, 1960.
[22] J. Zhao, X.-Y. Wang, Y. Qin, and H.-G. Cai, “UKF-based optimal attitude estimation of two-wheeled self-balanced robots,” ROBOT, Vol.28, No.6, pp. 605-609, 2006. (in Chinese)

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] R. Ping Man Chan, K. A. Stol, and C. Roger Halkyard, “Review of modeling and control of two-wheeled robots,” Annual Reviews in Control, Vol.37, No.1, pp. 89-103, Apr. 2013.

[2] [2] K. Yamafuji, M. Q. Feng, and T. Kawamura, “Robots driven by parallel bicycles,” Int. J. of Mechanics and Control, Vol.7, No.2, pp. 3-11, 2008.

[3] [3] K. Yamafuji, Y. Miyakawa, and T. Kawamura, “Synchronous steering control of a parallel bicycle,” Trans. of JSME, 55-513C, pp. 1229-1234, 1989. (in Japanese)

[4] [4] K. Yamafuji, “Inverted Pendulum Type Locomotive Robot Which Ascends a Slope of Maximum Inclination Angle of 30 Degrees,” J. of Robotics and Mechatronics, Vol.1, No.1, 1989.

[5] [5] N. Hiraoka and T. Noritsugu, “Closed-loop posture control of parallel biwheel vehicle driven with a stepping motor,” Trans. of JSME, 61-592C, pp. 4638-4645, 1995. (in Japanese)

[6] [6] N. Hiraoka and T. Noritsugu, “Velocity and position control of a parallel biwheel vehicle driven with a stepping motor,” Trans. of JSME, 63-613C, pp. 3207-3214, 1997. (in Japanese)

[7] [7] N. Hiraoka and T. Noritsugu, “Cooperative object transportation of a 2-D plant by a parallel biwheel vehicle driven with a stepping motor,” 66-646C, pp. 1882-1889, 2000. (in Japanese)

[8] [8] F. Grasser, A. D’Arrigo, S. Colombi, and A. C. Rufer, “JOE: A Mobile, Inverted Pendulum,” IEEE Trans. on Industrial Electronics, Vol.49, No.1, pp. 107-114, Feb. 2002.

[9] [9] H. G. Nguyen, J. Morrell, K. D. Mullens, A. B. Burmeister, and S. Miles et al., “Segway robotic mobility platform,” Proc. SPIE 5609, Mobile Robots XVII, 207, Dec. 29, 2004.

[10] [10] J. Han, H. Li, Y. Bai, and J. Li, “Modeling and Control Simulation of Developed Coaxial Two-wheeled Electric Scooter,” CHINAMECHANICAL ENGINEERING,Vol.16, No.8, pp. 683-686, 2005. (in Chinese)

[11] [11] S. Zhao, J. Han, J. Li, Q. Lin, and H. Li, “Research on a Coaxial Two-wheel Electric Scooter and It’s Control System,” MECHANICAL & ELECTRICAL ENGINEERING MAGAZINE, Vol.22, No.1, pp. 12-15, 2005. (in Chinese)

[12] [12] M. Ishikawa, “Sensor Fusion : The State of the Art,” J. Robotics and Mechatronics, Vol.2, No.4, pp. 235-244, 1991.

[13] [13] S. Nasiri, “A Critical Review of MEMS Gyroscopes Technology and Commercialization Status,” Inven Sense, 2003.

[14] [14] MPU-6000 and MPU-6050 Product Specification, Revision 3.4,Retrieved from: http://invensense.com/mems/gyro/mpu6050.html. [accessed August 19, 2013]

[15] [15] B. Barshan and H. F. Durrant-Whyte, “Inertial navigation systems for mobile robots,” Robotics and Automation, IEEE Trans. on, Vol.11, No.3, pp. 328-342, Jun. 1995.

[16] [16] C.-C. Tsai, H.-C. Huang, and S.-C. Lin, “Adaptive Neural Network Control of a Self-Balancing Two-Wheeled Scooter,” Industrial Electronics, IEEE Trans. on, Vol.57, No.4, pp. 1420-1428, Apr. 2010.

[17] [17] X.-Y. Wang, J.-H. Yan, X.-Z. Zang, Y. Qin, and J. Zhao, “A multisensory data fusion method of the two-wheeled self-balanced robot,” Chinese J. of Sensors and Actuators, Vol.20, No.3, pp. 668-672, 2007. (in Chinese)

[18] [18] H. Kimura,M. Nakamura, N. Inou, M. Matsudaira, andM. Yoshida, “Identification Method of Sensor Directions and Sensitivities in Multi-Axis Accelerometer (Actual Measurement of Direction Tensor and Sensitivity Tensor),” J. of Robotics and Mechatronics, Vol.25, No.2, 2013.

[19] [19] P. Y. Lam and T. K. Sin, “Gyroscopic Stabilization of a Self-Balancing Robot Bicycle,” Int. J. of Automation Technology, Vol.5, No.6, 2011.

[20] [20] R. Imamura, T. Takei, and S. Yuta, “Sensor drift compensation and control of a wheeled inverted pendulum mobile robot,” Advanced Motion Control, 2008. AMC ’08. 10th IEEE Int. Workshop on, pp. 137-142, Mar. 26-28, 2008.

[21] [21] R. E. Kalman, “A new approach to linear filtering and prediction problems,” J. of BasicEngineering, 82, pp. 35-45, 1960.

[22] [22] J. Zhao, X.-Y. Wang, Y. Qin, and H.-G. Cai, “UKF-based optimal attitude estimation of two-wheeled self-balanced robots,” ROBOT, Vol.28, No.6, pp. 605-609, 2006. (in Chinese)