Research on motion control of wheeled self-balancing robot based on ODE virtual reality technology

The simulation results of traditional system simulation, whose technology is based on the solution of mathematical model, are mostly numerical curve, lack of telepresence, third dimension and immersive. According to this problem, virtual reality technology ODE (Open Dynamics Engine) is used for the simulation of characteristic parameters on wheeled self-balancing robot. A wheeled robot model having the feature of real robot's kinematics and dynamics has been built in virtual reality environment to achieve free balance, fixed-point balance, speed tracking, heading control and linear obstacle negotiating. And related procedures have been designed for real-time detection of model parameters and export of simulation data which provide a reliable basis for the experimental study.