Design and implementation of the balance of two-wheeled robots

Yan Hou Wen, Yu Sheng Lin, Yih Guang Leu

研究成果: 書貢獻/報告類型會議論文篇章

7 引文 斯高帕斯(Scopus)

摘要

This paper is to study the balance of two-wheeled robots by fuzzy control and PID control. Two-wheeled robots need extra control mechanism to reach the balance since the system itself is instable. This study plans to implement the related control circuit to a real two-wheeled robot model. By realizing the fuzzy control and the PID control into microcontroller the two-wheeled robot can still keep the balance even when the external interference is added. At first, use the three-axis accelerometer to measure the angle of the body, and an angle error value is generated. Then, through the fuzzy algorithm and the PID algorithm to output an appropriate PWM (Pulse-width modulation) duty to drive the motor, the two-wheeled robot reaches the balance. Finally, compare the balance efficiency and the efficiency of resisting the external interference of the fuzzy control and of the PID control. The experimental result of the two-wheeled mobile robot shows that the method proposed in this paper is feasible.

原文英語
主出版物標題2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
頁面130-134
頁數5
DOIs
出版狀態已發佈 - 2013
事件2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Tainan, 臺灣
持續時間: 2013 五月 32013 六月 2

出版系列

名字2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings

其他

其他2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013
國家/地區臺灣
城市Tainan
期間2013/05/032013/06/02

ASJC Scopus subject areas

  • 人工智慧
  • 控制與系統工程

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