Learning Robotics using Python - Second Edition

Inertial measurement unit

We will use the inertial measurement unit (IMU) in this robot to get a good estimate of the odometry value and the robot's pose. The odometry values computed from the encoder alone may not be sufficient for efficient navigation, as they can contain errors. To compensate for the error during the robot's movement, especially rotation, we will use the IMU in this robot. We are selecting MPU 6050 for the IMU because of the following reasons:

• In MPU 6050, the accelerometer and gyroscope are integrated on a single chip
• It provides high accuracy and sensitivity
• We are able to interface with a magnetometer for better IMU performance
• The breakout board of MPU 6050 is very cheap
• MPU 6050 can directly interface with LaunchPad ...