Two-wheeled robot motion control system and method based on complementary filtering

Abstract

The invention belongs to the technical field of robot data processing and discloses a two-wheeled robot motion control system and method based on complementary filtering. The method comprises the steps of carrying out data fusion on an attitude sensor MPU6050 on-chip gyroscope and an accelerometer through utilization a first-order complementary filtering method and obtaining an attitude dip angle;obtaining robot two-wheel speed through utilization of an incremental encoder, and moreover, obtaining track path information through utilization of a camera; and controlling a motor PWM control signal through adoption of a PID closed-loop control algorithm, and realizing dynamic balance control. Through adoption of a fusion technology of various control theoretical methods, robot adaptive balance capability is realized. Fuzzy plus proportion control technologies are employed for an automatic cruise system, so a robot can pass a curve rapidly and smoothly. Through adoption of wireless networktransmission technologies such as 4G and Wi-Fi, manual intervention capability of the robot is rapidly and conveniently improved. The robot can be operated in a complex environment.

Description

technical field [0001] The invention belongs to the technical field of robot data processing, and in particular relates to a motion control system and method for a two-wheel robot based on complementary filtering. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: With the continuous development of society, the application of robots needs more in-depth research. Among them, service robot technology has quickly become one of the research hotspots in the field of robots. Service robots also cover a wide range of industries. In daily life, this type of robot can be used in many occasions such as restaurant delivery, company delivery of documents, and warehouse handling. Work arrangements are made through program settings. Among them, companies and The application of robots in warehouses can reduce the waste of human resources and improve work efficiency, while robots in restaurants can increase the freshness of cus...

AI Technical Summary

Problems solved by technology

[0003] In summary, the problems in the prior art are: At present, two-wheeled self-cruising robots are working on motion control issues such as how to make the robot balance better, how the robot can track accurately, and how to perform efficient human intervention.

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