Questions tagged [differential-drive]
Differential drive is a commonly used drive system, which consists of two independently controlled wheels.
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Approach to using PID to get a differential robot driving straight
Consider a differential drive robot that has two motorized wheels with an encoder attached to each for feedback. Supposed there is a function for each DC motor that takes a float from -1 to 1 and sets ...
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Differential drive trajectory following control
I have a robot platform with differential drive which knows it's position and orientation.
Lets say that the space through which the robot moves is known and it has only static obstacles. The task is ...
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Reward Function for q learning on a robot
I have 2 wheeled differential drive robot which I use pid for low level control to follow line. I implemented q learning which uses samples for 16 iterations then uses them to decide the best position ...
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Roller Screw drive - axial movement instead of friction
I need an equation or a some hints to solve the following problem.
Imagine a roller screw drive. I apply a torque of T to translative move my load mass ...
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How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?
Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
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Generic name for two-motor wheeled/tracked robots?
Is there a generic name for the category of robots that move using two opposing wheels or tank-like treads?
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differential drive PID controller
I have a differential drive robot that works fine (good PD parameters) driving at say 1 m/s. Now, if it speeds up (to 1.2 m/s) it starts wobbling again. What would be a good strategy for a controller ...
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Plotting location using wheel encoder data
Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/]
The UGV image - via the SFU Mountain Dataset website:
I have used the following state update ...
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Adjusting the PWM frequency and duty cycle to achieve the desired angular velocity in differential drive robots
I am practicing C++ and intro to robotics using a simple differential drive robot and a raspberry pi. Also following along the GA Tech course on control of mobile robotics.
The implementation I am ...
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ROS Gazebo Odometry Issue
I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning ...
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IMU based acceleration parameters for differential drive robot
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 ...
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How to perform odometry on an arduino for a differential wheeled robot?
I am using a differential wheel robot for my project. I need to know the current coordinates of the robot with respect to it's initial position taken as the origin. I m doing the computation on an ...
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How to calibrate differential drive?
I'm building a robot with differential drive. I've reached the point when I can drive it around on remote control and I'm trying to get the localization working. Now I would like to exactly measure ...
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Standard equation for steering differential drive robot
I am writing a code in Arduino IDE for NodeMCU Board to control a differential drive 2 wheeled robot.
I am able to steer only one direction for some reason and the steering response time is a little ...
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How to find angular velocity using pure pursuit algorithm?
I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper:
http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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How to find kinematics of differential drive caster robot?
I'm working on a little project where I have to do some simulations on a small robot.
I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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Motor acceleration and position with PID control
I'm working on a robot with differential drive (2 drive wheels equipped with rotary encoders and 4 free spinning omni wheels for stability) and each wheel is controlled via a separate arduino nano.
I ...
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How to handle motor stall zones in differential drive point-forward go to goal algorithm?
I am implementing the Go To Goal algorithm for a differential drive robot as described here and in this video. The issue I have is that there is a large dead zone in pwm values where the motors are ...
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calculating differential drive robot ICC position
I don't understand how to calculate the ICC position with the given coordinates. I somehow just have to use basic trigonometry but I just can't find a way to calculate the ICC position based on the ...
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ROS NavStack with Skid Steering robots
I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in ...
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Differential Drive Robot on uneven surfaces
So I am building a differential drive robot and I want it to autonomously drive in a straight line on an uneven surface. I know I need a position and velocity PID. As of now, I am deciding on which ...
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Inverse kinematics for differential robot knowing linear and angular velocities
I have a differential robot and I am using ROS to run it. When I need to move the robot, I can send commands to it, specifically linear X and angular Z velocities. Linear X is in m/s whereas angular Z ...
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SW2URDF model is floating in Gazebo
I get my URDF using SW2URDF plugin in SolidWorks. Iam following this instruction.
From the instruction, I need to add link and joint as "world" and set the child link to the base link, (It ...
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Changing tank drive (differential) mode to single joystick drive mode
I bought 2 brushed motor controllers from China to use within my hobby-weight battle robot (http://www.banggood.com/ESC-Brushed-Speed-Controller-For-RC-Car-Truck-Boat-320A-7_2V-16V-p-915276.html).
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Differential Drive Robot Control
Edited: I have a differential drive robot that needs to drive down a hall and stay in the center. I have 4 ultra sonic sensors, 2 on each side. Currently, I thought of implementing pure pursuit and ...
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How to make 4 wheeled robot work with DiffDrive plugin and ROS2 Control?
I have a 4 wheeled robot with mecanum wheels (in real life), I have been able to simulate it and get it to work with the ROS2 DiffDrive plugin (replicating the skid steer plugin from ROS1) but now ...
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How do I make a robot imported using urdf and ROS2 gravity? It just floats
I can't seem to find any examples with imported URDFs (the universal robot examples don't seem to have any physics settings beyond joint inertias etc).
My robot has mass from the urdf:
But it seems ...
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Drive unicycle kinematics equations through the geometry
The unicycle dynamics in discrete-time is given by:
$$
\begin{array}{l}
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \cos ({\theta _{k + 1}})\\
{x_{k + 1}} = {x_k} + \Delta {s_{k + 1}} \times \sin (...
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How to choose closest angle when crossing -180 degrees
I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
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What is difference between 2 wheels and 4 wheels and tracked differential mobile base kinematics?
In generally I know that no difference between 2WD and 4WD mobile base control kinematics equations.
but is there really difference between two wheels differential mobile base and tracked/...
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Designing compatible spur gears for a robot gearbox
I'm trying to increase the torque on the output shaft of my robot's gearbox. I have a motor with a pinion attached to it with 8 teeth. I want to create a gear with 33 teeth that will mesh with the ...
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Helping diff. drive robot get through doorways
Hey folks!
I'm working on a differential drive SLAM robot and I have things working pretty well. I'm able to:
Create a map of my apartment using slam_toolbox
Navigate from room to
room using Nav2 and ...
coatwolf
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Control a differential drive robot
I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4. I ...
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How do you model a physical robot (diff drive) in python?
I am using PyGame to simulate the motion of a differential drive robot. So far, I have used the standard diff drive kinematics, multiplying by delta time, and I have the motion working as expected.
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How do robots move parallel to a wall/line?
I have been studying robotics by myself, lately.
I noticed that there are various mapping, localization methods (popularly under SLAM), but are there concepts relating to the robot moving in a ...
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How to drive mecanum wheels robot: code or algorithm
I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
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4 wheeled differential wheeled (skid-steer) robot steering problem
My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
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4 Wheel Differential Drive Robot with different speeds
Differential drive robot with 4 wheels,
If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed )
in general, would that generate more ...
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How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?
I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath.
I've gotten to the point where I have a very small, single purpose ...
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help with moving wheels of robot in gazebo
I'm using UBUNTU ros2 Humble
I've been trying to control my robot in gazebo. I have tried several plugins to run it, but to no avail. I figured it could be that in my URDF, my wheel is connected to a ...
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Differential Drive Control Techniques
I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots?
If I want to compare different ...
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Differential steering
I'm hoping to build a 40kg rover for running on soft and loose dirt by using fewer than 4 motors. Does anyone know if differential steering is possible on 3 actuated wheels? That is, two at the front ...
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Arduino for mobile robot
Is it possible to drive the whole mobile differential drive robot with single arduino? Sonar sensor, servo motor, two encoders, two motors, imu, etc. I mean would it give a reasonable performance or ...
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Q Learning And Kohonen Maps For Line Follower Robot
I'm trying to build a line follower robot and I'm interested in predicting the curves on the track.
I have 8 binary sensor array(qre1113).
My goal is to make a system that it can generalize what it ...
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Acceleration formula for a differential steering robot
I have the formulas to derive the RPM's of each wheel from the robot's linear velocity.
Now, I am trying to do the same thing for the acceleration (mainly angular acceleration).
For linear ...
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Understanding differential drive
I am a beginner in robotics and I have just come across the concepts of differential and steer drive. I don't understand them very clearly yet.
I found the following write up describing differential ...
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How to make my robot move parallel to edge of the table?
I have an autonomous differential drive robot that moves on the floor and its purpose is to always move parallel to the longer edge of the table (just assume that the table never ends). It looks ...
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Extended Kalman filtering for IMU and Encoder
I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
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Center line steering with differential drive
I’ve got 2 motors that drives my unit and I can easily steer it manually by simply adding more speed to one wheel vs the other.
Now I’m automating the rover using image processing to follow a driveway....
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Advantage of Kalman filter in differential drive planar robot
We need to estimate the position and orientation of differential drive robot by using encoders and imu sensor. For this specific case, is there any advantage of using Kalman filter than taking the ...
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