Wheeled Mobile Robot Control using Inertial Sensor

J.H. Kim, H.G. Min, S.-H. Kwon, and E.T. Jeung (Korea)


Gyroscope, accelerometer, complementary filter, wheel mobile robot


This paper performs a research to derive dynamics using Lagrange`s method and designs the LQR controller to control wheeled mobile robot. Inertial sensor is equipped to measure the angle of robot and complementary filter is designed to compensate the error. We evaluate the performance of wheeled mobile robot by applying the filter obtained by least square.

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