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Questions tagged [mobile-robot]

A robot which is capable of moving from one place to another, usually of its own volition.

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how to introduce 2 inputs into a matlab block function that processes only one variable at a time?

Using SIMULINK, I wanted to optimize 2 variables with the ant colony optimization algorithm; which is written in a matlab function block, the function is of type function y = f (x) it has only one ...
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Should I use ROS? [on hold]

My friends and I are building an autonomous plane (UAV) and are interested in using ROS for our software stack. However, I had a few problems with ROS, and am wondering if anyone knew any solutions? ...
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Can I program my roomba to run essentially all day (except for charging, of course)?

I'm an artist with basically no programming background. I need to make my roombas (3 of them) move around a gallery space throughout the day and night (the gallery will be visible from street view 24 ...
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What is the front mechanism of this robot's track called?

What is the mechanism on the front of the tracks of this robot called? They are also tracks, but they are able to be moved by the operator, and they are able to function as tracks. I've only seen ...
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smooth robot 3D trajectory using graph optimization

I want to solve a trajectory smoothing problem using graph optimization. I have asked questions on how to solve this problem in a previous post and got directed towards using graph optimization. I ...
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28 views

Robitic Bicycle

What ways could the bicycle be improved on by robotics for a dyi project? Could a bicycle be made to stand its self up and return to base or ride along side you while jogging like a drone? I'm ...
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How to calculate shortest path between multiple pick and drop destinations

I have a scenario where I have multiple robots, and they have to pick and drop some items at specified locations as shown in Figure. There are 4 jobs to be done for this particular instance. How can ...
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3answers
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smoothing the robot poses inbetween two known poses

I have a set of N robot poses between point A and B. I use a global localization technique to estimate poses at point A and B. As a result, I have a new corrected pose B'. Please see the figure below. ...
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Why information filter called information filter

We all know Information Filter is a dual representation of kalman filter. The main difference between information filter and kalman filter is the way the Gaussian belief is represented. In kalman ...
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Will a change of motor driver improve motor performance?

I have this motor, from datasheet it works on the 6-12V range and has a no load current of 0.52A, and a stall current of 20A. I want to test the motor before buying an expensive motor driver. I have ...
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Power Connector for Create2

Our team is trying to find the DC power connectors/adaptor for the iRobot create2. The male ones we got from Amazon (5.5mm x 2.1mm) do not fit with the transmitter plug. What are the sizes of the ...
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39 views

project to create a lighter wall [duplicate]

We are working in a project to help blind people cross the street alone .so ,Can I create a Virtual reality wall or a holographic 3d one that is visible in the Street and in all day times ?? ( morning ...
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Convert image of a map into grid map for path planning

I have an image of a map and I want to convert it into grid map so I can implement path planning algorithms like Dijkstra and A*. I am a beginner in this area so I am kind of stuck at it.Map Image
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What's the brand of this acoustic speaker whose operation range is 10-100 kHz?

In this paper A fully autonomous terrestrial bat-like acoustic robot - PLOS the robot that is being presented is equipped with an acoustic speaker that can generate 10-100 kHz sound waves. I want to ...
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Program EV3 in C to compensate for the robot movement offset

I am using c4ev3 library in C to program my EV3 brick to move the robot across a discretized grid using a path-finding algorithm. But the problem is, the robot getting offsets on turns and even when ...
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Torque calculation for differential drive AGV for turning about pivot position

I am building an AGV to carry a payload of 60 Kg and AGV weight is 60 kg. Currently I am using 60 kg-cm torque stepper motor (1.6 A 12 V) on each wheel of a 4 wheel drive ...
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Create path with minimum curvature for Ackerman drive

I'm trying to create a trajectory between two given poses for an Ackerman drive. The poses are defined as follows: Current Pose position $(x_0, y_0)$ rotation on z-axis $\theta_0$ Final Pose ...
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Can somebody explain how these forward kinematics matrix equations were formulaed?

Here's the link to the entire answer: Designing a 5 bar linkage robot: Plot Clock
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Stay both pointed forward and equal distance from side walls

Simple task, robot with total knowledge about the world or at least a few side mounted IR sensors which can accurately measure where the robot is relative to a long straight corridor. We want to BOTH:...
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2D Transformations as Affine Matrices

I have found the following exercises about 2D Transformations as Affine Matrices. I am stuck at the second exercise that goes as follows: The 2D pose of a robot w.r.t. a global coordinate frame is ...
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Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
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How to use the sensor data(Dead reckoning, odometer) to keep track of multiple robots and their movements?

Objective: The goal is to present to the management the real time tracking of the cars and the loader activities; and to eventually aid the communication of their performance for better management of ...
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2answers
54 views

Indoor GPS 3D for navigation

I'm looking Indoor GPS system for agriculture tasks in a greenhouse. I want to make an autonomous robot who can navigate by "GPS", I want the system to be 3D (x,y,z) and allowing the I can use robotic ...
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1answer
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Alternate perspective other than probabilistic perspective to implement slam

I am bother on some line which is written is Probabilistic Robotics book by Dr.Sebestian Thrun From a probabilistic perspective, there are two main forms of the SLAM problem,which are both of equal ...
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EIF slam algorithm implementation as per Probabilistic Robotics

I want to implement EIF slam from Probabilistic Robotics Table 11.2. This is the algorithm for EIF slam. To construct $\Omega and \xi$ matrix I write down a Java code. Here is my code ...
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69 views

Position Tracking using IMU

I am working on a robot tracking application, where our main tool (a camera) for locating the x & y position of the robot is working on a quite low frequency. Therefore, I am looking for ways to ...
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Mobile robot navigation without static map

I am working on an autonomous mobile robot based on ROS. All the tutorials and examples requires a static map which need to be generated in order to do the localization and mapping. Do i need to ...
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How rational is it to use Intel Realsense for my affordable indoor autonomous robot?

Right now, I am using ESP32 for the motors and planning to add either Raspberry Pi Zero or ARM Cortex-M4 (STM32) and use ROS with Intel RealSense RGBD camera. How sensible is it? I am not expert in ...
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where to apply state space model, controllability, observability and pole placement in robotics?

In a course named modern control systems I have just finished learning: State models for LTI systems Diagnolization Solution of state equations Controllabilty & Observability Pole ...
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what is the local minima problem in robot motion [duplicate]

How should we describe the concept of local minima in robot motion in layman's terms? Is local minima a rare or common occurrence in robot motion planning using sampling based algorithms? what is the ...
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2answers
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sampling algorithms in motion planning and local minima

I am trying to run RRT algorithm for motion planning for a quadrotor. The quadrotor ends up sometimes in corners without reaching the goal. I realized from sources online, that it is due to local ...
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Lost on SEIF Slam repeated update landmark

I am working on Sparse Extended Information Slam. I take the reference from Probabilistic Robotics, by Dr.Sebastian Thrun (Chapter 12,page 303). I have some doubt about the implementation of the ...
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1answer
42 views

Inductive Charging for Alphabot [closed]

I am looking into building a self-docking robot that can charge itself when needed. To accelerate the prototyping phase, I am considering AlphaBot2 with Raspberry Pi 3 B+ as a development platform. I ...
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SEIF slam: Effect on information matrix when there is no landmarks

I studied about Sparse Extended Information Filter slam. I want to clarify some points regarding this topic. As per the sparse extended information(SEIIF) slam when the robot sees some landmarks it ...
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EKF Slam algorithm doubt at observation update

I have some doubt on EKF Slam with known correspondence in the measurement update state. I follow the algorithm from Probabilistic Robotics by Sebastian THRUN. This Algorithm is on Chapter 10 page No:...
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SEIF ,online version of Graph slam create doubt in Motion Update state

I have a thesis work about Graph Slam The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures I try to implement it with the help of this paper but during the ...
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35 views

Object detection using ToF sensor

I am making an indoor robot and in order to detect static and dynamic objects I have decided to go with ST VL53L1X ToF proximity sensor, here is the link: https://www.st.com/en/imaging-and-photonics-...
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How can I use A* path planing and MID for indoor wheeled robot?

Imagine a small indoor robot with no expensive sensors like LiDAR and only equipped with cheap IMU and ultrasonic sensor. The very first task, is to make a map (which I have used floor plan in this ...
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Need some advice on controlling maxon motors for two wheeled robot

I am using two maxon EC 45 flat motors to run a three wheeled robot (the third wheel is passive). I have two motor controllers (Maxon ESCON 50/5) to control each motor as well. There is a software by ...
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1answer
43 views

iRobot Create 2 Flash CRC message

In testing my iRobot Create 2, I discovered that the following message is being sent periodically over the serial interface: " Flash CRC successful: 0x0 (0x0)". Is this expected behavior or am I ...
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1answer
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Lost on Graph slam's loop cloursure

What is the definition of loop closure in Graph Slam? Ref: Graph Slam The theory of Graph Slam define here but I think there is no hints about loop closure. I give this reference for review ...
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1answer
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provide world map for ekf global localization problem

I am trying to implement the ekf_localization algorithm in page 217 (Table 7.3) of the probabilistic robotics book by Thrun. From my previous post, I understand that I need to extract observed ...
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1answer
68 views

EKF localization data association

I am working with ROS indigo and clearpath huskyA200 and wanted to implement the EKF localization with unknown correspondences with my own hokuyo lidar data for a school project. Giving the algorithm ...
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1answer
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Relation between GraphSLAM and Iterative closest Point algorithm

I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error. I taken ...
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2answers
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GraphSLAM equation doubt

I have question about GraphSLAM implementation. To find out the path and map using GraphSLAM we rely on this equation: $$\mu=\Omega^{-1}\xi$$ where $\Omega$ is our information matrix which ...
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1answer
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Graph Slam Landmark remove and then again add it

I try to implement Graph Slam in real dataset. My data set have some data that describe that the Robot observe same landmark over and over with a large amount of time difference. Prof. Sebastian ...
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2answers
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How to detect loop in robot movement observing odometer data

I have some odometer data. This data are based upon robot movement. I can transfer those raw data to a motion equation from where I get x,y,and theta co-ordinate of a Robot. If I plot those x,y ...
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2answers
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How exactly does sensor fusion work in Kalman filters?

I've been looking into implementations of Extended Kalman filters over the past few days and I'm struggling with the concept of "sensor fusion". Take the fusion of a GPS/IMU combination for example, ...
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3answers
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Alternative to ROS? [closed]

This might be a tricky question, but having dug in deep with ROS I am noticing the complexity that one has to deal with. Simple Arduino programming is much simpler but of course can’t do many useful ...
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How to avoid matrix singularity in GraphSLAM

I am trying to implement GraphSLAM from Sebastian Thrun's paper, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I compute the inverse of my information ...