用级联PID策略实现自主自平衡机器人

2020 6th International Conference on Control, Automation and Robotics (ICCAR) Pub Date : 2020-04-01 DOI:10.1109/ICCAR49639.2020.9108049

E. Philip, Sharath Golluri

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引用次数: 7

摘要

本文介绍了一种基于开源Ardupilot平台的自主自平衡机器人的硬件实现。将级联PID策略与轨迹跟踪控制器相结合，实现自动驾驶。通过仿真和硬件实验分析了系统的运动和轨迹控制性能。

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Implementation of an Autonomous Self-Balancing Robot Using Cascaded PID Strategy

The hardware implementation of an autonomous self-balancing robot, using the open-source Ardupilot platform is presented here. The cascaded PID strategy is combined with a trajectory tracking controller to achieve autonomous driving. Motion and trajectory control performance is analyzed through simulation and hardware based experiments.

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来源期刊

2020 6th International Conference on Control, Automation and Robotics (ICCAR)

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