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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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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 ...
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16 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 ...
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9 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 ...
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1answer
25 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?
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2answers
35 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 ...
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1answer
32 views

high power jumping mechanism in small robots

I recently saw this video on youtube: Jumping robot And i was curious how this is accomplisched mechanically? Do they wind a strong spring? or use some sort of airpowered piston? I am not sure if ...
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1answer
24 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 ...
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13 views

Accuracy of the NEO-6M GPS module

For an autonomous bot, I wanted to use a NEO-6M GPS module with an Arduino. How much accuracy can I expect from this specific GPS module?
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1answer
33 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 ...
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3answers
108 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 ...
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1answer
24 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 ...
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32 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-...
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1answer
47 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 ...
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1answer
7 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 ...
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0answers
20 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 ...
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1answer
20 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 ...
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1answer
27 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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0answers
15 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 ...
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1answer
41 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, ...
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1answer
68 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 ...
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1answer
61 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 ...
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0answers
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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?...
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1answer
42 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 ...
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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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1answer
23 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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1answer
41 views

FastSlam2.0: ICP Scan Matching vs Odometry? What is the typical time step?

When working with a FastSlam2.0 algorithm, ICP Scan Matching is supposed to give more accurate measurements than odometry. The problem is, that given some noisy measurements from the laser scanner, ...
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2answers
48 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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1answer
35 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
40 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
39 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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3answers
160 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
32 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 ...
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1answer
46 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
35 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
58 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
25 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
26 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
38 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
38 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
40 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
86 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
62 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
117 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
40 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
22 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
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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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0answers
29 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
46 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:...