Balancing and navigation control of a mobile inverted pendulum robot using sensor fusion of low cost sensors

This article presents balancing and navigation control of the balancing robot called MIPS. MIPS is a mobile inverted pendulum system whose structure is a combination of a wheeled mobile robot and an inverted pendulum system. MIPS can navigate on the horizontal plane while balancing the pendulum body. Control performance relies upon the accuracy of sensors to measure a tilted angle. Low cost gyro and tilt sensors are used and fused to detect a balancing angle. Digital filters are selectively designed for sensors to measure an inclined angle accurately with respect to different frequencies. Performances of balancing and navigation of the MIPS are tested by experimental studies through remote control.