# 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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### 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 ...
36 views

### Effect of platform speed (how fast it is moving) on the quality of SLAM

I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
12 views

### Plot a map using wheel encoder and IMU data

I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data. Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
6 views

### 2 NAO robots and a human interacting and exchanging an object

I need to solve the following scenario between 2 NAO robots and one human. Maybe you have advice which NAO accessory or builtin sensor is accurate enough to measure such a distance of 0,5 meters and ...
75 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 ...
52 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 ...
113 views

### How to implement reference control signal for robot heading?

Some time I found that some robot controller uses a critically damped reference control signal such as in Autonomous Surface Vehicle (ASV) heading controller. My question is how do we implement this ...
86 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 ...
51 views

### Mapping of dynamic environment

I want to do path planning in dynamic environment in which obstacles keep changing. Could you suggest me good path planning algorithm for this? . Is D* algorithm suitable for me to achieve this in ...
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### In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using ...
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### Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
18 views

### Dynamics of a mobile robot (Roy Featherstone's spatial_v2 toolbox & Simscape) [closed]

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I have a Simscape model of the robot that I use to generate test case and I encountered a situation that I don't understand. I have ...
53 views

### Multiple robots performing a set of tasks (Optimization)

Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
46 views

### Multiple machine ROS image transmission error

I'm currently trying to establish communication between my Raspberry Pi based robot and a Cluster which are on the same network. Although I am able to ping and SSH one device using the other, I'm ...
36 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 ...
81 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 ...
25 views

### How to access raspberry pi over wifi

I have to use raspberry with Arduino on a mobile robot. And access raspberry pi on pc through WiFi. Is it possible? Please explain how to do it.
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### How to suck using vacuum only first sheet of paper from pack of paper?

We are designing robot that will pick and place sheets of paper. We have found an issue that it is hard to suck only first sheet of paper of paper pack. Issue occurs because paper sheet passes vacuum ...
39 views

### What robotic skills can I develop when working as a robot operator? [closed]

I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
35 views

### Mapping of unknown environment

My question is how do obtain occupancy grid map given sensor data of a robot? . I searched a lot and concluded that by using proximity sensors (rangefinders, sonar) and putting that data in occupancy ...
25 views

### Path planning with potential field

Can shortest path be computed using potential field path planning algorithm? Or is it just for obstacle avoidance and navigative towards goal? As i studied potential field deals with attracrive/...
57 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 ...
22 views

### D* path planning

I am studying D* path planning algorithm. It includes RAISE state and Lower state. I studied many paper on D* and got to know that RAISE state k(X) h(X) + c(X,Y)) then insert X into the OPEN list ...
17 views

### ROS packages for *pre-planned* path navigation rather than path generation? (Turtlebot3/ROS)

I am working on a project in which users will create paths fully constrained in terms of position (using a separate piece of software), and a robot will periodically follow those paths. We are using a ...
35 views

### Multi robot exploration

I am implementing 2d slam for multi-robot exploration for my university project using GMapping package of a ROS and vrep sofrware. But I also have to implement the following three algorithms in ...
61 views

### How to build map for unknown environment? [closed]

In order to create a map for unknown environment, we have two solutions: The size of the area should be given (grid-based maps) so simply we create 2D grid and have our robot to move discrete ...
668 views

### ROS MoveIt!, virtual joints, planar joints, prismatic joints

I do have a robotic application, where a 7Dof robot arm is mounted on a omnidirectional mobile platform. My overall goal is to get MoveIt! to calculate a sequence of joint movements, such that the ...
84 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 ...
16 views

### Trajectory tracking problem for non-holonomic mobile robots

Currently, I am working on the trajectory tracking problems of autonomous ground vehicle and a little confused about the applicability of control theory for different types of wheeled mobile robots. ...
44 views

### EKF SLAM : SLAM specific Jacobians for new landmarks

I am currently trying to understand the books SLAM for dummies and Simulataneous localization and mapping with the extended Kalman filter to implement slam. I have understood steps 1 and 2 SLAM for ...
708 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, ...
124 views

### 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 ...
58 views

### Electronic Speed Controller

What should be the specification of ESC that I should use for a 320KV 1820W brushless DC Motor?. Is it necessary to use an 80A ESC?, Basically, How can I choose the required ESC for a motor?
1k views

### Which is a good and cheap 3D LIDAR or other options? [closed]

Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 ...
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### How to compute the field of view of a robot when obstacles are around?

Is there a formula to compute the field of view of a robot when it is obstructed by other objects like in this picture When it is a full circle it should be ...
12 views

### There is an error when i use kinect v1 with Mrpt tool

when i use mrpt tool to calibrate kinect v1, there is an error: ...
15 views

### RpLIDAR unable to see black objects

I am working on a ROSBOT for a natural navigation project. While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
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### Lifting robot that moves like a plotter

I'm looking for what a robot that moves like a plotter but can grab a load up to 1kg with a claw, lift, rotate and place in another location within its range. What is this type of robot called?
146 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 ...
58 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 ...
36 views

### Free Multibody Dynamics Software?

I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
13 views

### How to perform system identification of a mobile robot using white box approach?

Why isn't there much research going into the extraction of inertial and frictional values? Is there any standardized approach? Edit: I will give a sample application! Say if we want to implement a ...
54 views

I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
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### 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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### Does anyone have documentation for a CoroWare Explorer?

I have inherited a CoroWare Explorer from someone who used it for their PhD research years ago. They have no documentation on the robot, and I cannot find any online. Does anyone have a user's manual ...
55 views

### High power jumping mechanism in small robots

I recently saw this video on YouTube featuring a jumping robot: 5 Fastest Robots In The World I was curious how this is accomplished mechanically? Do they wind a strong spring or use some sort of air ...
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### 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 ...
27 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 ...