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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Is it possible to use coordinates to modify the floor into a polygon in Webots?

I'm using Webots to model an irregular polygon floor for a coverage problem. I want to define the floor using the coordinates of the vertices. So far I have been able to generate an irregular polygon ...
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Why in forward bending knee orientation in quadruped legged robot require less torque in knee joint?

I'm trying to find answer in terms of physics explanation, why knee joint torque requirement is less in the forward bending leg orientation of a quadruped legged robot. I'm referring this article, in ...
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Suggestion for path following algorithm for mecanum wheeled mobile robot

I have a robot with four Mecanum wheels. I want to make robot follow different paths. The path information is given in x,y coordinates. I want to start from simplest controller i.e. open loop type as ...
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BLDC Motor characterization for a towing AGV

I’m working on an aircraft towing AGV and I need some assistance regarding the drive sizing. But first some technical data : 4 DC bldc motors Cogged wheel for caterpillar tracks diameter 65mm. ...
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How to move the robot using raspberry pi?

I used a raspberry pi 3 model B and a camera to make a robot detect fire, using https://www.youtube.com/watch?v=-ZyFYniGUsw However I am not sure how to make this robot move after it detects fire. The ...
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control over changing data

I am trying out different control algorithms, in my practice on the state space models and control. Now I have the following system with the following states and state transitions with time. Position ...
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what are the main steps to build a swarm robots system and train it to achieve foraging task using deep Q network

I studied reinforcement learning deeper and prepared myself to use Webots, and when I decided to build a swarm robots system and drive it by deep_Q_networks I feel too confused how can I begin and is ...
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Why does the complexity of the particle filter scales exponentially with the number of dimentions?

In the AI for Robotics course from Udacity, Sebastian Thrun mentions that "the complexity of the particle filter grows exponentially with the number of dimensions". Why is this the case? We ...
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URDF for a real robot

I have been making robots in ROS/Gazebo simulation before, which makes use of the URDF to understand the robot model, different frames and transformations. For a real robot, do I need a URDF as well? ...
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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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Add a repulsive force among a group of robots

I am new to multi-agent robotic systems and I am currently studying consensus and flocking algorithm. Recently I implemented a simple integrator consensus algorithm that leads a group of N robots to a ...
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how can i drive the linear state space model of this ackerman steering model

i have an ackerman steering model like so : ...
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Move a Three Wheel Omni Robot

I understand this isn't for programming but it's easy to read. I have referenced This for a guide on how to move a 3 wheel omni robot but I have encountered a few problems. ...
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Choose the structure of the dynamic model for the generalized equations of motion of the robot

I ask the robotics specialists for help as I am a little confused. I have two subsystems which are shown in the picture below: One of them is a system of stable and controlled differential equations ...
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torque calculation issues

so i have been trying to draw a free body diagram of a 6 axis robot arm project, in order to know the torque required for each joint. and now am confused about the angular acceleration part which ...
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Mobile robotic arm camera position

I'm working on my graduation project which is a mobile robotic arm that performs pick and place tasks. I wanted to know the possible ways to mount the camera where i can reach the desired destination ...
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4-Wheeled Mobile Robot, Motor-Torque, RPM Calculation

I want the torque, rpm of every motor to be used considering certain factors, in a 4 wheeled robot as you see in the picture below. Here are the factors affecting motor specifications that I Had ...
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What is the most cost effective yet still reliable outdoor boundary system?

I am working on a robot that will operate outside in people's lawns in a predefined space. The issue that I am having right now is figuring out what kind of boundary system I should implement in order ...
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Dynamically-stable Motion Planning for Humanoid Robots

I was reading the classical robotics paper Dynamically-stable Motion Planning for Humanoid Robots and I don't understand why the two trees are swapped in line 7 of figure 5 (page 11). Seems like an ...
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Quasi Direct Drive Actuator - Slot & Pole Combinations for High Torque Motor

I am building my own Quasi Direct Drive actuator and looking for information/ design guidelines for building a High Torque Motor similar to the MIT Mini Cheetah below. Specifically I cannot seem to ...
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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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Does full motor current pass through 'switches' on children's driving vehicles?

I plan to hijack a powerwheels-like toy to control it with the jetson nano. Here is the toy: https://www.wayfair.com/outdoor/pdp/konbeca-ride-on-bumper-car-kids-toy-electric-funny-ride-on-car-for-360-...
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Do diagonal mecanum wheels require the rollers to cross the center of the robot

I'm currently in the process of making some changes to my robot to use mecanum wheels. The kinematic models I've seen assume the 45 degree roller from one diagonal wheel to the other, crosses the ...
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Some doubts regarding SLAM and its technical terms

I have some questions regarding SLAM and some general technical terms used in the context of it. Q1) **Online SLAM vs Offline SLAM**. Can "Online" SLAM be also called "real-time" SLAM? What is the ...
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Count number of collisions while navigating to goal

I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...
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Calculate information matrix for graph slam

0 I am new to SLAM. I am working on graph slam where I need to do pose graph optimisation. For this requirement information matrix is required between two edges for which the transformation has ...
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Reinforcement Learning in global and local path planning for mobile robots and self-driving car

Most RL courses start with grid world problem like this where robot has to navigate from start to end and RL helps in generating the optimum policy. (State-action pairing). I am not able to relate ...
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Can a state lattice planner be used purely as a local planner?

I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a ...
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Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
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How to design a PID controller for boat?

I have a boat with two trusters and a trajectory planner which is based on the bicycle model. In order to control the boat, the linear velocity of each truster has to be provided. The following ...
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Calculating wheel linear velocity from body velocity

A frame {b} is attached to the centre of a robot chassis. The planar configuration is given by $(x,y,\phi)$ where $\phi$ is the angle between the x axis in {b} and the x axis of a fixed reference ...
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Small AGV robot for ROS application

I am looking for an off-the-shelf small AGV which runs or could be used with ROS. It may include some basic sensors like a camera, an IMU, an Ultrasonic range finder, etc. Really appreciate all the ...
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Autonomous harvesting robots. What are model possible components and interactions for the entire system? [closed]

I found a video which talk about best autonomous robots that use IA technology to harvest crops. The video is very interesting because, the “ecosystem” of each robot varies a lot from company to ...
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How to actually fuse sensor using Extended Kalman Filter

Background I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
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Range of a heading angle [0,2π) or [−π,π)

Consider the unicycle dynamics in 2D plane: $$\begin{array}{l} \dot x = v\cos \varphi \\ \dot y = v\sin \varphi \\ \dot \varphi = \omega \end{array}$$ What is the range of the heading angle $\phi$? ...
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Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
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Mobile robot behaviour [closed]

I want to ask people who have designed the control/behaviour system of the mobile robot? As far as I know, architecture might be implemented as a finite-state machine or a behaviour tree. What are the ...
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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 calculate the ground truth of your own simple dataset for testing your SLAM Algorithm?

I have tested my SLAM algorithm on EuRoC, TUM and KITTI Datasets. But I would like to test on my own custom dataset. Moreover, I already rectify how to make my own dataset in TUM dataset format, but I ...
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Rviz Status Error in Costmap: Update area outside original area

“update area outside of original map area” is the error I get when visualising the topic /move_base/global_costmap/costmap. The cost map displays correctly, there is nothing on google or the docs to ...
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Need help with counting the number of robots on the circumference of a circle much larger than the communication radius of the robots

I have a circle of radius 300 cm on whose circumference robots stop after moving in the environment. The robots only have a communication radius of 10 cm such that they can fit 6 robots along the ...
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How to design a behavior tree with ROS1 framework

I am confused about how high level my behavior tree has to be. For example, if I want to create an autonomous robot that goes from point A to point, what would be a reasonable behavior tree? For now, ...
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How to handle curved paths in maze

-I have an RPi on Ubuntu with ROS (Kinetic). The task is to solve a maze. I have implemented a left-hand algorithm to navigate through the maze. -The robot is equipped with 3 ultrasonic HC-SR04 ...
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Extract laser scan from a map and known location

If we have the map of an environment (an occupancy grid for instance) and precisely know the pose of the robot within it. How can one reconstruct what the laser scan should look like at a given ...
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Fusing cross-correlated measurements for mobile robot's localization using unscented kalman filter (ukf)

I'm currently working on a mobile robot's indoor localization. On the perception side, I can only rely on a 2D lidar and wheel odometry. I have used these sources as input of different localization's ...
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Sprockets for steering

I'm planning to drive the steering of a AWD rover using stepper motors. Is it usually a good idea to use sprockets and chains for that? Would the precision typically be too low for steering? The ...
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Compute how well a laser scan matches or overlaps with its environment given a map of the environment and location of the robot is known

If I knew the exact location of my robot and have an accurate map (for eg. an occupancy grid map) of the environment beforehand, how can I compute a measure of how well the laser scan data agree with ...
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How do I compute the feedforward terms in a control law using Matlab?

I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form: $v_d=v_{fb}+v_{ff}$ $\omega_d=\omega_{fb}+\omega_{ff}$ ...
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Matlab code to take time derivatives

I have a velocity command, which is: $v=k_1\rho cos(\alpha)$ where each quantity $\rho$ and $\alpha$ depend by the time. I would like now to take the time derivative of this, in order to use it as ...
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How do I apply a disturbance observer to a mobile robot?

I have to design a observer to estimate disturbances which are applied to a unicycle model. So, the unicycle model with disturbances is: $\dot{x}=v cos\theta + d_x$ $\dot{y}=v sin\theta + d_y$ $\dot{\...
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