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Utilization of the inertial sensors for control of the mobile robots

By Zdeněk Lachnit

Abstract

The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control

Topics: control; accelerometer; gyroskop; inerciální měřící jednotka; Kolový robot; Wheeled robot; inertial measurement unit; kráčivý robot; akcelerometr; řízení; legged robot; gyroscope
Publisher: Vysoké učení technické v Brně. Fakulta strojního inženýrství
Year: 2009
OAI identifier: oai:invenio.nusl.cz:228689
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