robots

机器人和智能车相关

目录

• 1. 智能小车供电
• 2. 两轮平衡车
• 3. 6轴芯片数据处理算法
• 4. 算法
  • 4.1. 根据3轴加速度计算Roll和Pitch角

1. 智能小车供电

5V 2A 直流升压 USB 模块

http://blog.chenxu.me/post/detail?id=dbace377-7256-4ca9-8747-168c20fad7cc

2. 两轮平衡车

• http://blog.sina.com.cn/s/blog_1533ee7160102vnri.html

• https://github.com/thebdcoder/balancebot

3. 6轴芯片数据处理算法

• The Balance Filter

• 四旋翼姿态解算——互补滤波算法及理论推导

• http://www.geekmomprojects.com/gyroscopes-and-accelerometers-on-a-chip/

  Filtered Angle = α × (Gyroscope Angle) + (1 − α) × (Accelerometer Angle)

  where

  α = τ/(τ + Δt)
  (Gyroscope Angle) = (Last Measured Filtered Angle) + ω×Δt

  ω = angular velocity
  Δt = sampling rate
  τ = time constant greater than timescale of typical accelerometer noise

  I had a sampling rate of about 0.04 seconds and chose a time constant of about 1 second, giving α ≈ 0.96.

4. 算法

4.1. 根据3轴加速度计算Roll和Pitch角

https://theccontinuum.com/2012/09/24/arduino-imu-pitch-roll-from-accelerometer/

Roll = atan2(X, Z) * 180/PI;
Pitch = atan2(Y, sqrt(X*X + Z*Z)) * 180/PI;