Determining orientation of the aerodynamically adhesive wall climbing robot

摘要

The paper considers determining the orientation of a vertically moving robot with an aerodynamic fixation. A design of the created robot is described. The problem of finding orientation of the robot from a data collected from an accelerometer sensor is considered. An accuracy and noise in the data are studied. The moving average filter for on-board real-time data processing is proposed and is implemented in the robot controller. The filter significantly decreases the noise level and makes the orientation data suitable for the robot operation.