# Questions tagged [mobile-robot]

A robot which is capable of moving from one place to another, usually of its own volition.

485 questions
139 views

### Find the robot pose from three beacon measurement

At every timestep my robot gets sensor measurements from a scanner that finds three beacons with known poses $B_1 = (B_{1x}, B_{1y})^T, B_2 = (B_{2x}^T, B_{2y}) , B_3 = (B_{3x}, B_{3y})^T$ these ...
206 views

### Obstacle avoiding by Pi camera [closed]

I designed a mobile robot with my colleagues for our graduation project, the purpose of it is to detect mines (metals) in a specific area We are programming the robot using Python on Raspberry Pi 3 ...
120 views

### Software for mission planning in multi-robot systems

I am interested in mission planning for multi-robot systems. Given multiple robots and multiple tasks and an environment, I need to specify missions and software should plan for the robot team to ...
35 views

### How to choose a motor for water surface vehicle? [closed]

I am about to build a water surface vehicle (a kind of boat). I was looking for different type motors and ruled out the stepper and servo motors. But I got confused between brushed and brushless dc ...
124 views

### What is the intuitive explanation of using Jacobian of observation model while calculating Kalman gain in EKF SLAM?

The idea of using Kalman gain in EKF SLAM is to figure out how much we trust our motion model and sensor/observation model. As explained in The Extended Kalman Filter: An Interactive Tutorial for Non-...
114 views

### Will two 8-bit microcontrollers running in parallel perform similarly to a single 16-bit microcontroller?

Let's say I have multiple (8 bit) sensors which are sending signals to two microcontrollers simultaneously. In this case, I am looking to harness the parallel processing capability of the two ...
100 views

### Algorithm for Determining Mobile Base Positioning Given End Effector Pose

I have a 6 DOF arm robot with a mobile base, and a given x/y/z/quaternion vector that the end effector must match. I am to determine the most optimal position of the mobile base such that an IK ...
323 views

### Estimating yaw angle and yaw rate for a frontal vehicle

I would like to know if it is possible (and if it is possible how can it be done) to estimate the yaw angle and yaw rate of a vehicle in front of me knowing the following information: -my speed (x,y,...
75 views

### Computing Yaw angle from position and velocities

I have an object to whom I know the x,y,z position, length, width, height, and x,y velocities. Is there a possibility to compute the yaw angle from this information?
2k views

### Wheel Odometry Covariance Matrix for Custom Robot

I have been looking around in the forums, but could not find any answer for how to go about getting the wheel odometry covariance matrix for a custom built planar robot (I found some posts related to ...
293 views

### Mobile robot speed synchronization for straight line moving

I would like to build a simple mobile robot with differential wheels, and I am currently design the wheel speed controller. After reading some papers, I noticed that to realize a straight line moving, ...
35 views

### 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 ...
132 views

### Navigation Potential fields algorithm [closed]

I am working with a raspberry pi which has some positional sensors and I manage it from my mobile with an app I am developing. Now I am trying to understand how to implement this algorithm to code, ...
88 views

### Robot Veering to the Left

I'm currently programming in RobotC, for a Vex 2.0 Cortex. I'm using encoders to make my robot go straight. This is my code: ...
302 views

### How path following works analytically for way points?

First of all sorry for the confusing question title. I am also confused about the concept. I have implemented a quadcopter and its controller. Controller finds the rotor speeds based on the position ...
104 views

### Will Lidar see a fence?

I am looking at the possibility of using LIDAR to do obstacle avoidance for a robotics project I am working on but the project involves avoiding a chain link fence. Has anyone used LIDAR to detect ...
844 views

### Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization? [closed]

We need a SLAM system for mobile platform which will be used in on-site construction. We are to build a 3D map from clouds of points and need localization in it. We don’t need fast localization, but ...
72 views

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### Area coverage of autonomous underwater robot

I'm currently working on an autonomous underwater cleaning robot and would like your input on some navigation algorithms Problem: Wash the inside of big, open and filled tank, e.g. water storage ...
158 views

### Object Detection and Pose Estimaion

I am working on a robotics project for fun and can't really wrap my head around a solution to my perception problem. Setup: My robot will have a stereo vision setup and will have to detect certain ...
1k views

### Error while running rosserial node in ROS

I have an Arduino connected to ROS through serial port. I wrote an ardiuno code to drive motors. below is my code. ...
131 views

### How can we solve the problem of robot size in sensor based motion planning?

As you know in Bug algorithm there is a simplifying assumption that says the robot has no size and can fit between any arbitrarily small gap in the map. How can we overcome the challenge of robot size....
89 views

### How to test how much current 9 servos can draw at a time [closed]

Plus how should I use a multimeter to test it. P. S. Really sorry for a noon question
2k views

### Implementing pure pursuit problem in robot navigation? [closed]

I would like to implement pure pursuit waypoints navigation. we know that, look ahead distance=look ahead gain*vehicle forward velocity How can I calculate look ahead velocity gain/look ahead gain? ...
119 views

### Seminal work in multi-robot task decomposition [closed]

Multi-Robot task decomposition implies that there is a mission that needs multiple mobile robots like guarding the president's car with a team of drones. This high-level layman interpretation of the ...
427 views

### Calculate input parameters of CTRV model

I am using Constant Turn Rate and Veloctity (CTRV) model to predict the position of the vehicle.The CTRV model assumes a circular path between two consecutive time steps of the car as depicted in the ...
150 views

### Choosing motor to buy after calculations

I am building a two wheeled robot which will have: max speed of 10km/h and acceleration of 0.5m/s² can climb 12° slopes weighs at most 30 kg wheel diameter is 50cm By doing the calculations myself, ...
647 views

### State estimation of mobile robot

For a mobile robot - four wheels, front wheel steering - I use the following (bicycle) prediction model to estimate its state based on accurate radar measurements only. No odometry or any other input ...
136 views

### Estimating state of moving object from other moving object

What is the best way to estimate the state [x-position; y-position; heading (yaw angle); velocity; acceleration; curvature (or yaw rate)] of a moving ...
168 views

### What is the torque transmission efficiency using a bycicle chain/setup for robot?

For this robot the gear attached to the motor is linked to the gear attached to the wheels by a bicycle chain (I am using a bicycle wheel and transmission set as the parts for the robots movements). ...