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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Loop time for self balancing robot
I have been working on a self balancing robot and there are quiet 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 ...
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0answers
10 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 ...
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0answers
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What is a good way to measure the perpendicular distance (from a mobile robot eg) to a laser beam?
What is a good way to measure the distance (from a mobile robot eg) to a laser beam? The purpose of course is for the mobile to track the laser beam. The mobile may go temporarily off the beam by ...
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1answer
13 views
Accuracy of hall sensor encoders on Raspberry Pi
I have 2 motors (JGA25-370) with hall-sensor encodes.
They emit about 90-100 interrupts every 100ms, so 1000 a second.
Which means I have an interrupt happening every 1ms.
The motors are driven by ...
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0answers
26 views
What is a good way to measure the perpendicular distance to a laser beam? [on hold]
What is a good way to measure the perpendicular distance (from a mobile robot eg) to a laser beam?
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17 views
What are the components required to mount a servo inside an ActoboticsTM facing outwards a channel?
Being new into the ActoboticsTM set, it's not always clear to me what the parts are supposed to do.
I'm currently in need of placing a servo inside a channel facing outwards, as depicted on the ...
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2answers
32 views
outdoor autonomous robot [closed]
i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300)
i have ...
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0answers
17 views
Building a mobile robot- Project
I’m trying to build a mobile robot that weighs close to 40 pounds and I’m trying to use a DC motor for the wheels but I don’t know what requirements the motor will need to have.
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29 views
How to Communicate with a Robot with Fast Wireless Communication…(wi-fi AC)?
I have a robot that gives 4K images from its camera and sensor data.I want to consume these information and transfer to my local computer and process the desired path the robot has to go based on the ...
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1answer
30 views
Representation of 2D coordinate space with orientation
I wanted to know what is the mathematical representation of 2D coordinate space with orientation in the same plane.
2D coordinate space is represented as $R^{2}$, how do I include orientation in the ...
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0answers
36 views
Tracking object in realtime using depth image stream from a RGBD camera
I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
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2answers
32 views
How to get starting location of robot using IMU Sensor (without using gps)
i have one robot, i have to get the initial location of that robot. then when we move the robot from that location, and when we give the command like "HOME" then it should go that initial location. ...
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2answers
52 views
Self balancing robot: PID Control Algorithm
I am working on a hobby project for self balancing robot. My robot balances quiet well, so my next step is to start moving it. I saw in some blogs that they used a cascade control algorithm as shown ...
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1answer
27 views
Turning a 2 wheeled robot 90°
i got a task for which i need to drive a certain distance and move around an object. I finally managed that my robot goes almost straight but i think its enough. But now i gotta tackle the problem how ...
2
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1answer
38 views
Difference between Collision Cone and Velocity Obstacle
I'm trying to understand these two classic approaches to path planning in dynamic environments/with moving obstacles.
According to some review papers, there seems to be quite a difference between them,...
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1answer
21 views
Tackling loops and discontinuations in PID line follower
We are making a PID line follower using arduino for a competition. According to the rules of the competition they will have loops and discontinuations in their track. Can anyone give some idea how we ...
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1answer
50 views
Path planning of wheeled robot [duplicate]
let's say the robot Looks like this (an usual robot arm with 4 wheels) :
In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position ...
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0answers
24 views
motor selection for farm rover
I'm designing a rover to use as a harvest aid on our vegetable farm. It will be GPS guided using an RTK base station to straddle our parallel fixed-width vegetable beds. (66" wide with 48" of growing ...
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0answers
22 views
how to normalize PWM if the value exceeds the maximum speed limit
I have implemented inverse kinematics for nonholonomic mobile wheeled robots, and the RPM range of the motor that I used is -50 to 50, while for PWM is from 1300 to 1700. But in certain cases, the RPM ...
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0answers
37 views
how to introduce 2 inputs into a matlab block function that processes only one variable at a time? [closed]
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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1answer
37 views
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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1answer
35 views
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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1answer
64 views
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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3answers
58 views
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
106 views
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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1answer
34 views
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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1answer
21 views
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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1answer
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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0answers
10 views
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 ...
2
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0answers
23 views
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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1answer
42 views
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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1answer
17 views
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:...
3
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1answer
44 views
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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0answers
29 views
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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2answers
63 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
17 views
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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0answers
33 views
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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2answers
267 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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2answers
96 views
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 ...
2
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0answers
36 views
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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2answers
41 views
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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0answers
17 views
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 ...
2
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1answer
54 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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1answer
26 views
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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1answer
31 views
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:...
2
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1answer
43 views
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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1answer
42 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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1answer
50 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
41 views
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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2answers
50 views
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 ...
