RapiBaBot: A solution to the inverted pendulum using a raspberry Pi and its GPIO

摘要

In this paper we present a manipulation of the Kalman Filter and Proportional Integral Derivative (PID) controller to generate an Inverted Pendulum. A Kalman Filter recursively receives noisy data and produces an estimate of the system's state. A PID Controller determines the rate at which the system reaches the set state from the derived estimate. An Inverted Pendulum, an inherently unstable system, attempts to sustain an upright position. The utilizations of the Kalman Filter in conjunction with the PID Controller will allow the system to maintain that position. While many Inverted Pendulum applications exist, in this research we propose the RapiBaBot; a robot that employs low-cost, easily obtained electronics to formulate a fairly stable inverted pendulum system. In this paper we show how we solve issues that usually arise in inverted pendulum applications, namely, vibration and lack of mobility. These issues have to be solved effectively for the stability and mobility of the system. We also explain how to construct the Kalman Filter and PID Controller into an effective and understandable form for the electronics to easily integrate with.