The Use of Kalman Filter in Control The PanTilt Two-Axis Robot With Wearable System

Abstract

Today, the use of MEMS-based control-based unmanned aerial vehicles is becoming widespread. It is important that the systems used for the control of unmanned aerial vehicles are used sensitively. In this study, a wearable MEMS gyroscope-based headband is designed for the remote control of unmanned aerial vehicles. This system provides vibration-free control of the rotation angles of the motors in the direction of the camera connected to the 2-axis robotic pan-tilt system based on human-machine interaction. In addition, the signals produced by MEMS, the vibrations caused by electrical noise in the motors due to human interaction and environmental factors, are effectively eliminated with the Kalman filter. In this way, the images transmitted to the pilot become smoother. Therefore, it is cost-effective as it eliminates the need for additional hardware filtering structures.