Questions tagged [mobile-robot]
A robot which is capable of moving from one place to another, usually of its own volition.
570
questions
0
votes
0answers
7 views
AC Motors vs Hydraulic motors for skid-steering robot
I'm designing a mobile robot with tracks and skid-steering driving system and I am evaluating whether an electric motor would be better than a hydraulic one.
I did some calculations, the total weight ...
0
votes
1answer
20 views
Problem understanding a paper about visual odometry
I am reading the following paper: SVO: Semi-Direct Visual Odometry for Monocular
and Multi-Camera Systems
, and I am having some problem understanding some concepts.
Before starting I have to say ...
1
vote
0answers
13 views
Use polynomials to detach number of MPC controls from size of time-horizon?
Model Predictive Control (MPC) works by finding a set of controls $u_0, \dots, u_n$ that minimize a cost function $J$ over a time-horizon $[t, t + T]$. Typically when MPC is used on mobile robots, ...
1
vote
1answer
38 views
motion model for forward movement
I thought this is a simple and well known problem and therefore there is a lot of literature. But I'm not able to find the correct keywords to google the answer. Maybe instead of answering the whole ...
0
votes
1answer
41 views
Applications of Reinforcement Learning
Many global-control applications of robotics involve incomplete world information and at best can be represented as a POMDP.
Given this, can we really apply RL to most robotics applications? From ...
0
votes
0answers
43 views
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 ...
0
votes
0answers
15 views
Algorithm for Collision avoidance of Multi Robot system on a predefined path without external obstacles ( collision might occur only with one another) [closed]
I am trying to solve a question on junction management of multi-robot system (N number of robots) which have to cross a 4-way junction without collision with each other ( kind of like cars on traffic ...
0
votes
0answers
9 views
Navigation Function : Sphere Spaced Set
The navigation function in a sphere spaced set is given by:
Equation
How do I determine the value of Lambda?
0
votes
0answers
44 views
two wheel mobile robot odometry
I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
1
vote
0answers
47 views
What is the definition of the phrase “ego robot”?
What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
2
votes
0answers
35 views
Jacobian of a planar manipulator with 4 links
I have a mobile manipulator that moves on the plane. The base moves in SE(2) and the manipulator is also planar with 4 links. The mobile base will be a differential drive robot and its motion is ...
1
vote
0answers
19 views
Formulas for calculating the passive joints angular velocities
We have the following parallel robot architecture:
Positions of the vectors $u_i, v_i, w_i$, the angles $\theta_i$, angular velocity $\dot{\theta_i}$ and the Jacobian $J$, that mapping vector of ...
1
vote
0answers
20 views
Hint regarding Localization & Map Scaling
I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
0
votes
0answers
62 views
EKF landmark-based help needed
I am new in localization algorithms and EKF is new for me as well. I think that I implemented EKF (the whole code of class is here. I have problems in updating bearing angle of the robot. Basically I ...
1
vote
0answers
25 views
How to find the optimal path for a line following maze robot?
First let me explain the problem.
This is a maze made only out of black lines on a white surface. The robot has only a few IR sensors which can sense the position of the line. No other sensory input ...
0
votes
1answer
50 views
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 ...
1
vote
3answers
80 views
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 ...
1
vote
1answer
53 views
Controller algorithm implementation in ROS/Gazebo
I am doing some robotic simulations in ROS/Gazebo and wondering what is the best way (programming-wise since I don't have a CS background) to implement a robot's motion controller.
Here are the ...
0
votes
0answers
32 views
Use Camera Calibration Matrix without Toolbox
I am doing this little project where try to calibrate a Raspberry Pi Camera. I use Matlab and I do not want to use the Calibration Toolbox (!). The algorithm I use is the direct linear transformarion ...
1
vote
1answer
58 views
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 [...
1
vote
0answers
34 views
Are rotary encoders necessary for holonomic mecanum drive?
I'm making a robot which is going to have a holonomic mecanum drive. The doubt that I'm having is that should I use rotary encoders for doing so.
The bot will be manually controlled so would it be ...
0
votes
1answer
24 views
Forward kinematics of spherical parallel manipulators with revolute joints
I found an article that can help in my investigations.
Forward kinematics of spherical parallel manipulators with revolute joints
The problem is solved for the following system of vectors, which is ...
0
votes
0answers
21 views
Ceiling Camera & robot - SLAM still neded?
I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
0
votes
1answer
60 views
Collaboration of mobile robot and survaillance camera - classic localization (still) needed?
Just started with the topic of mobile robotics..
so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
1
vote
1answer
35 views
How does scan matching find overlapping regions in two scans?
I have been reading about scan matching and so far I have gathered that scan matching tries to find the transformation (rotation and translation) which leads to the best match between overlapping ...
0
votes
0answers
31 views
Robot-telescope prototype controlled by a PC
Has anyone developed mechatronic systems for DIY-telescopes running a PC?
Please share your experience, knowledge and nuances (how you acquired current sensors, speeds, electric motors, about ...
0
votes
1answer
71 views
Modeling of Robots
There are mainly two approaches for controlling robots (mobile robots and static robots): 1) working with kinematic equations, controlling joint or wheel speeds , 2) working with dynamic equations and ...
0
votes
1answer
49 views
Can I apply a common voltage to a high speed running DC motor to stop it? Will it damage the DC motor?
I decelerate the velocity of my robot very quickly by applying a common voltage (eg. 24V to both the terminals using Motor driver) to the DC motors. Given, the motor is running at a very high speed ...
1
vote
0answers
22 views
How do I say if a system is differentially flat?
I am studying mobile robots, and I have encoutered the concept of differentially flat systems. I have seen that if a system is differentially flat, we can identify flat outputs, thanks to which we can ...
0
votes
1answer
31 views
Doubt on artificial potential field
I am studying motion planning, and I am focusing on artificial potential fields. I have seen that it consists in having a repulsive field for obstacles, and an attractive field toward the goal.
But ...
1
vote
0answers
49 views
When do I do motion planning?
I am studying mobile robots, and I am focusing my attention to the unycicle. I have a doubt concerning the motion planning part. In particular I don't understand when the motion planning is done and ...
2
votes
0answers
27 views
Choosing right motors for self-balancing robot [closed]
I’m looking for right motors for my first self-balancing robot.
Design assumptions:
robot height: around 120-200 mm
robot weight: around 600-800 grams
wheels: 80x10 mm or 90x10 mm
battery voltage: ...
1
vote
3answers
60 views
I wanna make a raspberry pi car using an RC car. I would like to know if the servo multiplexer is necessary?
So I'm working on a project and it involves making a raspberry pi car, be it from scratch or with the help of can rc car. I chose the latter. Now the problem is I don't really have servo multiplexers ...
0
votes
0answers
19 views
robot movement steps
What does term "number of movement steps" mean in multi-robot exploration?.
It is a performance metric for comparing results like exploration time and energy consumed by robots during exploration.
0
votes
1answer
43 views
Robot localization in a known map without knowing its initial position in that map
Firstly I would like to say that I'm no expert in Bayesian Filters such as Kalman Filter and Particle Filter, but I've used the EKF before in a robot that has both wheel encoders and an IMU to ...
2
votes
2answers
47 views
What's the difference between Pose Measurement and Position Measurement?
I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
0
votes
1answer
48 views
Can I use experience in Game AI development to develop autonomous driving robots? [closed]
Can I use experience in Game AI development to develop autonomous driving robots? How much similar this areas?
0
votes
2answers
157 views
How to find inverse kinematic equations for a quadruped robot to make it walk?
I have made a model of quadruped robot (sprawling/spider type and not dog type) in V-rep and now I want to make it walk by using creep gait. (i.e moving 1 leg at a time)
As I understand, I have to ...
0
votes
3answers
108 views
Robotic arm servo motor- Not enough torque
I require your help regarding a problem I’m encountering.
I am a beginner in robot modelling. I am designing a robotic arm for agricultural use and I am having issues with the motors. I am using ...
0
votes
1answer
29 views
How to calculate the right needed Power?
Me and my team are building a robot and I need to calculate the Power of the motors. Through my research I found that I must know the needed torque for every motor and then convert it to electrical ...
0
votes
0answers
15 views
Integrating Arduino Cloud Platform into ROS
I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
1
vote
1answer
75 views
How to calculate battery capacity for my robot system
I am part of a team and we build a robot. I know how many watts all the subsystems of the robot will need and I also know how much time we want to operate it. Our system will need 323.344 Watt and we ...
0
votes
0answers
36 views
Path planning for a unicycle
I am having some troubles understanding a concept regarding the path planning for a unicycle. Suppose I want to plan a path that brings a unicycle from the origin to the point $\begin{pmatrix}
1\\
1\\...
0
votes
1answer
28 views
What is the Control mixer block that is usually found in control schemes?
There is usually a control mixer block in control schemes in robotics. What is it and what is the functionality and where can I read more about it.
Reference to the paper: https://giuseppesilano.net/...
3
votes
1answer
70 views
how to use ROS navigation stack with 4 wheeled robots
I have a 4 wheeled toy car, with 5 motors, one on each wheel and one is used for steering. How can I use ROS navigation stack with this robot since navigation stack is used with differential drive ...
2
votes
1answer
27 views
Angular Velocities of CoM in Global Coordinate
The block diagram of the robot is shown as above. Here, $\phi$ is the angle between $X_v$ and $X_0$ (Yaw angle of the robot), and $\psi$ is the angle between $Z_b$ and $Z_v$ (pitch angle of the robot'...
0
votes
0answers
57 views
feedback linearization for a quadrotor
I am trying to develop a controller for a quadrotor using dynamic feedback linearization technique, but I am not sure I am doing thigs correctly. I know that for designing such controller I have to ...
0
votes
0answers
63 views
What is the ~tf_prefix parameter does?
I have a TurtleBot3 Robot and when I’m trying to do this command to start the nodes
(The ROBOT is real)
roslaunch turtlebot3_bringup turtlebot3_robot.launch
I’m ...
0
votes
2answers
118 views
how to implement a wall following controller for a TurtleBot3? (ROS - python)
I want to implement a wall following controller for my TurtleBot3 (with ROS system).
sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (1 on left and the ...
-1
votes
1answer
19 views
rtk-gps faster (60Hz) and cheaper?
The below rtk-gps measures position to about 1.5inches
for $1500 and an update rate of 5Hz on gps, and it measures
12.6mm x 4.6mm so that it would easily fit inside of
a 20mm-diameter tube-shaped ...
