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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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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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1answer
19 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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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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Given the directions and distances the robot traveled, how to generate a plot against a grid layout in a rather smoothed manner? [closed]

I've got the robot's travel segments and intend to visualize it against the backdrop of grid layout. These travel segments are determined as function of wheel rotational difference between two wheels. ...
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22 views

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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1answer
7 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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Using sensor data and the starting location dynamically infer the location of a moving robot [duplicate]

Say, the robot is starting at a known position and I've data coming off of the robot as it traverses the grid layout. Exploiting the nuances captured in the data - like the implication of unequal rpm ...
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0answers
18 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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1answer
32 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
36 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 ...
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0answers
24 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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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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0answers
12 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 ...
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1answer
29 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
16 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
13 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:...
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0answers
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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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1answer
27 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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0answers
22 views

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
37 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
30 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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1answer
31 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 ...
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1answer
53 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
36 views

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
63 views

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
25 views

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
31 views

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
73 views

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
169 views

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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1answer
32 views

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 ...
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1answer
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How to generate Particle in Particle Filter

I try to implement FastSlam 1.0. To implement this I need to create particles. Now my confusion is that How to create Particles?I have some odometry and Measurement data. Using those data values how ...
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0answers
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How to apply Kalman filter in this case?

I have some straight and curve pieces with numbers, they are used to build tracks (of $5$ lanes) for my cars (figure $1$), I can send commands to the cars using an SDK on the Raspberry (set the speed ...
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1answer
28 views

Graph slam augmentation of Identity Matrix

I am trying to implement GraphSlam. I go through this paper http://robots.stanford.edu/papers/thrun.graphslam.pdf. I have some doubt about the algorithm. I attached a picture with this question My ...
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2answers
48 views

Matrix is singular error in GraphSLAM

I have gone through The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I implemented the code for GraphSLAM. The fundamental formula of GraphSLAM is $$\mu = \Omega^...
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1answer
37 views

Pressure Sensors for Robot Bumper

I'm building an omni-directional robot base and want to add some kind of low-level obstacle detection. The complete robot will have LIDAR and camera for navigation but I'd like to add something at the ...
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0answers
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Transforming incremental pose from camera frame to wheeled robot base frame

I compute odometry using the stereo camera by minimizing reprojection error. I compute the incremental pose change between frames from time t-1 and t. The odometry is referenced to the left camera ...
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0answers
37 views

Actual dimension of Omega in Graph Slam

I have a doubt about GraphSlam Algorithm introduce in this paper. I add a picture to express my doubts (from page 411, 9th in paper): As per my knowledge $\Omega$ is the information matrix. So in ...
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1answer
47 views

GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
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0answers
22 views

Position feedback of a continuous servo motor

How do I keep a track of the continuous servo arm's orientation with respect to the starting/center position? Would using a rotary encoder(relative/absolute) help? I do not need to hold on to a ...
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1answer
38 views

GraphSlam Matrix Subtraction doubt

I am trying to implement GraphSlam from this paper. I have some doubt regarding the algorithm described in this paper at table2: Algorithm GraphSLAM_linearize. I have a doubt in line 7. As per my ...
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1answer
40 views

GraphSlam doubt about variable elimination technique

I am trying to implement Graph Slam. For tutorial purpose I read the paper "The GraphSlam Algorithm with Application to Large-Scale Mapping of Urban Structures" by Sebastian Thrun. At the beginning of ...
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3answers
78 views

Robotics RC Car hack help

I need help with a robotisation project, please. I am new to robotics and have the Maverick RC car pictured below: My project is to add Arduino and Raspberry Pi boards to control the speed and ...
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1answer
17 views

Can a tablet be slaved to a laptop to act as a wireless usb?

I have built an InMoov Robot. The tablet I got for his controller is too slow. I am currently using a laptop to control him across a usb cable. I want to get rid of the usb cable. I was thinking of ...
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0answers
54 views

ROS: joint_state_publisher dies when used in remote launch file

I've been trying to run robot_state_publisher and joint_state_publisher on a remote TX1 running Ubuntu 16.04 and ROS Kinetic. When running the node from a local launch file (manually ssh into the ...
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3answers
64 views

How can I get the distance from a robot to a beacon?

I'm planning to create a Raspberry Pi robot to map a room. I intend to use a particle filtering algorithm as one of the central points of the project, that will allow me to work out my position ...
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How can we perform Image based Visual Servoing when we dont have the depth information

I am trying to perform image based visual servoing for my robot using a monocular camera. The issue is that in order to calculate image jacobian I need depth information Z. Can anyone point me to ...
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Question about dynamic window approach (integration)

I would like to use the dynamic window approach for collision avoidance. I have red the paper The Dynamic Window Approach to Collision Avoidance from Fox Burgard and Thrun (https://www.ri.cmu.edu/...