A study on pose balance of a two-wheel-driven robot based on dual ultrasonic data fusion

Abstract

A pose balance method based on dual ultrasonic data fusion is proposed in order to solve problems such as huge computation and low real-time handling ability caused by over relying on the gyro and acceleration transducer in correcting the fast-changing deviation for the two-wheel-driven robot. The distances between the ultrasonic sensors and the ground are sampled in real time and the data fusion with filtering is carried out simultaneously. The balance state is adjusted rapidly while the two-wheel robot is moving. The validation of this method is proved by experiments.