Questions tagged [mobile-robot]
A robot which is capable of moving from one place to another, usually of its own volition.
512
questions
2
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0answers
15 views
In SLAM loop closure, What does a sim3 matrix do?
I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix.
3D affine would be [sR|t; 0 1].
we rotate, scale and then translate a 3D point using ...
0
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0answers
15 views
Sampling from guassian distribution for odometry based motion?
I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
0
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0answers
17 views
Dynamics of a mobile robot (Roy Featherstone's spatial_v2 toolbox & Simscape) [on hold]
I am using Roy Featherstone's spatial_v2 to model a mobile robot. I have a Simscape model of the robot that I use to generate test case and I encountered a situation that I don't understand. I have ...
0
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0answers
16 views
Advice for suspension 101 for a small ATV robotic platform [closed]
I'm a recent grad from mech. eng. program and going into robotics field. I want to design a suspension for a small ATV robotic platform on 4 wheels that carries max 75 kg load.
I might use the wheels ...
0
votes
1answer
24 views
How to access raspberry pi over wifi
I have to use raspberry with Arduino on a mobile robot. And access raspberry pi on pc through WiFi. Is it possible? Please explain how to do it.
1
vote
1answer
53 views
How to suck using vacuum only first sheet of paper from pack of paper?
We are designing robot that will pick and place sheets of paper. We have found an issue that it is hard to suck only first sheet of paper of paper pack. Issue occurs because paper sheet passes vacuum ...
0
votes
1answer
38 views
What robotic skills can I develop when working as a robot operator? [closed]
I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
0
votes
1answer
33 views
Effect of platform speed (how fast it is moving) on the quality of SLAM
I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
0
votes
1answer
25 views
Path planning with potential field
Can shortest path be computed using potential field path planning algorithm? Or is it just for obstacle avoidance and navigative towards goal? As i studied potential field deals with attracrive/...
0
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0answers
22 views
D* path planning
I am studying D* path planning algorithm. It includes RAISE state and Lower state.
I studied many paper on D* and got to know that RAISE state k(X) h(X) + c(X,Y)) then
insert X into the OPEN list ...
0
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2answers
51 views
Mapping of dynamic environment
I want to do path planning in dynamic environment in which obstacles keep changing. Could you suggest me good path planning algorithm for this? . Is D* algorithm suitable for me to achieve this in ...
0
votes
1answer
35 views
Mapping of unknown environment
My question is how do obtain occupancy grid map given sensor data of a robot? . I searched a lot and concluded that by using proximity sensors (rangefinders, sonar) and putting that data in occupancy ...
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0answers
17 views
ROS packages for *pre-planned* path navigation rather than path generation? (Turtlebot3/ROS)
I am working on a project in which users will create paths fully constrained in terms of position (using a separate piece of software), and a robot will periodically follow those paths. We are using a ...
4
votes
1answer
46 views
Multiple machine ROS image transmission error
I'm currently trying to establish communication between my Raspberry Pi based robot and a Cluster which are on the same network. Although I am able to ping and SSH one device using the other, I'm ...
0
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0answers
35 views
Multi robot exploration
I am implementing 2d slam for multi-robot exploration for my university project using GMapping package of a ROS and vrep sofrware. But I also have to implement the following three algorithms in ...
2
votes
1answer
60 views
How to build map for unknown environment? [closed]
In order to create a map for unknown environment, we have two solutions:
The size of the area should be given (grid-based maps) so simply we create 2D grid and have our robot to move discrete ...
0
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0answers
16 views
Trajectory tracking problem for non-holonomic mobile robots
Currently, I am working on the trajectory tracking problems of autonomous ground vehicle and a little confused about the applicability of control theory for different types of wheeled mobile robots.
...
0
votes
1answer
43 views
EKF SLAM : SLAM specific Jacobians for new landmarks
I am currently trying to understand the books SLAM for dummies and Simulataneous localization and mapping
with the extended Kalman filter to implement slam. I have understood steps 1 and 2 SLAM for ...
0
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0answers
12 views
There is an error when i use kinect v1 with Mrpt tool
when i use mrpt tool to calibrate kinect v1, there is an error:
...
0
votes
2answers
53 views
Multiple robots performing a set of tasks (Optimization)
Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
0
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0answers
15 views
RpLIDAR unable to see black objects
I am working on a ROSBOT for a natural navigation project.
While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
1
vote
2answers
32 views
Lifting robot that moves like a plotter
I'm looking for what a robot that moves like a plotter but can grab a load up to 1kg with a claw, lift, rotate and place in another location within its range. What is this type of robot called?
0
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0answers
13 views
How to perform system identification of a mobile robot using white box approach?
Why isn't there much research going into the extraction of inertial and frictional values?
Is there any standardized approach?
Edit:
I will give a sample application! Say if we want to implement a ...
0
votes
2answers
36 views
Free Multibody Dynamics Software?
I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
2
votes
1answer
19 views
Does anyone have documentation for a CoroWare Explorer?
I have inherited a CoroWare Explorer from someone who used it for their PhD research years ago. They have no documentation on the robot, and I cannot find any online. Does anyone have a user's manual ...
0
votes
2answers
57 views
Electronic Speed Controller
What should be the specification of ESC that I should use for a 320KV 1820W brushless DC Motor?. Is it necessary to use an 80A ESC?, Basically, How can I choose the required ESC for a motor?
0
votes
1answer
54 views
Autonomous Navigation Bot [duplicate]
I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
0
votes
3answers
122 views
Do I need a camera along with LIDAR for SLAM?
Equipment:
Pi 3 B
Mega
2x Encoder Motor 12VDC 299RPM
MPU 6050
12V bat 2000mAh
LIDAR or Kinect ?
I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...
0
votes
0answers
27 views
Robot trajectory generation; path-paramerization
I have a differential drive robot, and it's supposed to drive on a parabolic function $(f(x) = x^2)$. But for all control algorithms, you have a trajectory given as $f(s)$ or $f(t)$.
I want to use ...
0
votes
0answers
16 views
How to do mechanical calculations for a towing robot?
I am making an automated guided vehicle
AGV will tow standard shopping carts each will weighs 20-30kg
I hope to use 12V DC gear motors 100rpm torque 20kg.cm
(assume the floor is smooth and flat)
I ...
0
votes
1answer
37 views
What is the difference between the pose of a robot and the configuration of a robot?
Do "configuration" and "pose" means the same thing? If not what is the difference?
0
votes
2answers
138 views
IMU and encoder fusion
I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
3
votes
1answer
55 views
High power jumping mechanism in small robots
I recently saw this video on YouTube featuring a jumping robot: 5 Fastest Robots In The World
I was curious how this is accomplished mechanically? Do they wind a strong spring or use some sort of air ...
0
votes
1answer
31 views
How can robots communicate, locate and identify each other?
I'm planning to build some simple robotic boats. They will be travelling some distance alone but should also be able to group and physically connect together to form one boat. When they are near each ...
1
vote
1answer
39 views
What is the best adaptive controller for robotic arms?
I have a question that lays on practical experience. What is the best adaptive controller for a robotic arm?
Self Tuning Regulator (STR)
Model Reference Adaptive Controller (MARC)
Adaptive Model ...
2
votes
3answers
112 views
Interference caused by multiple robots during task completion
Suppose there is an area to survey. If we deploy one robot it takes time T to sweep the area. Now if we deploy 2 robots, we would expect it to take time T/2. However in reality, because we are sending ...
1
vote
1answer
26 views
How to balance a long vertical bar
I have a mobile base (1400x1800x400 mm) which has a vertical bar (1) mounted on its geometric center; this vertical bar has a length of 2500 mm and a diameter of 100 mm and I need to keep it always in ...
0
votes
0answers
43 views
Can't get iRobot Create to respond
We have an iRobot Create connected to a Win 10 PC with the cable supplied with the unit.
We have followed the instructions here:
http://www.robotappstore.com/Knowledge-Base/How-to-Use-a-RealTerm-...
0
votes
1answer
58 views
Extrinsic calibration of a multicamera-rig mounted rigidly on a mobile robot
We have a set of 8 cameras mounted rigidly on a mobile robot. The cameras are forming an arc, which allows a 360º vision.
I want the extrinsic parameters of them referred to the robot. Is there any ...
0
votes
1answer
9 views
If you move the RGBD camera to other places on a Turtlebot, same orientation, create a map, does ROS navigation stack with AMCL still works?
I got a Turtlebot, and I’m thinking of putting the RGBd camera to other places. If you move RGBD camera to other places on a robot, same orientation, create a map, does ROS AMCL still works? I am ...
1
vote
0answers
27 views
TGY-6114MD Servo motor needs push to start
I currently have an inspection robot deployed in a remote part of Africa that has a failing Turnigy TGY-6114MD servo. The issue appeared randomly. The servo won't respond to commands unless given a ...
0
votes
1answer
77 views
Omni vs mecanum wheels for drawing robot
I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves.
The floor will always be flat with almost no obstacles.
The robot will have four ...
0
votes
1answer
35 views
Minimum distance for a shaft coupling
What is the minimum shaft distance required to do a shaft coupling.
I want to mount encoders on my motors but the shaft length is only 15 mm long. My encoders are 12 mm wide. So, I only have 3 mm to ...
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vote
0answers
41 views
Sensor model and Inverse sensor model using occupancy grid mapping with lidar for particle filter
I'm a bit confused about how one goes about calculating the sensor model $p(z_t|x_t, m) $ and inverse sensor model for position $p(x_t |z_t,m_{t-1})$.
From this answer, it seems like one way for ...
0
votes
1answer
56 views
SLAM Scan Matching. Scan vs previous-scan OR scan vs previous-map?
When using Scan Matching ICP for FastSLAM, which is the proper way to use it?
Between the current scan and the previous one, or between the current scan and the stored map?
Can both be used? If so, ...
1
vote
1answer
80 views
Likelihood Field Matching
I have LIDAR data of an environment in my hand and I want to apply likelihood field matching to this data. I found a source. But I don't understand what the variables of the algorithm mean and how it ...
1
vote
1answer
74 views
Fusing absolute robot localization from markers
I have a system which is composed of a rig of 8 cameras which are used for detecting markers in the environment and which outputs 8 estimates of the absolute robot's position and orientation.
Now, I ...
1
vote
0answers
20 views
Design of the baseplate of mobile robot
I need to construct a Mobile robots preferably circular type of diameter 30 cm, it will be carrying a payload of 5kg. What will be optimal thickness the baseplate considering the material as aluminium?...
0
votes
1answer
53 views
Loop time for self balancing robot
I have been working on a self balancing robot and there are quite a few parameters and one of them is loop execution time (t_loop henceforth). To my understanding, the smaller t_loop, the better it is ...
0
votes
0answers
17 views
Inexpensive & minimally viable systems for testing SLAM algorithms?
I've been studying SLAM on my own for some time, I can sift through texts over texts and try my best understanding them. However, without actually implementing them myself, I think I still don't fully ...
