I have a differential drive robot whose motors are virtually quiet while driving on a completely flat surface, but the motors make a lot of noise when on a incline. This is likely due to the correction required to maintain speed with the high inertial load where the robot cannot accelerate fast enough for the PID to keep up.
But I noticed that some of the noise is related to acceleration, and the higher the acceleration, the smaller the amount of noise I hear, or the smaller the time the same level of noise lasts (up to a certain acceleration limit, otherwise the motors get really noisy again).
I am trying to find out of how to use an IMU that I have a available in order to change the acceleration based on how steep the path's incline is.
Any documentation (papers, tutorials, etc) about motion planning related to this topic that you can point me to?