Questions tagged [mobile-robot]

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

78 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
3
votes
0answers
140 views

Examples of Zeno Behaviour in the Real World

Zeno Behaviour or Zeno Phenomenon can be informally stated as the behavior of a system making an infinite number of jumps in a finite amount of time. While this is an important Control system problem ...
3
votes
0answers
99 views

choose ZigBee modules for full wireless mesh

What is the most common ZigBee IP Modules to create full wireless mesh mode? I know that it should be 1) coordinator and 2) router to create full-mesh But I am interesting about what kind of modules ...
2
votes
0answers
24 views

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 ...
2
votes
0answers
33 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 ...
2
votes
0answers
50 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 ...
2
votes
0answers
62 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 ...
2
votes
1answer
86 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 ...
2
votes
1answer
79 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 ...
2
votes
0answers
344 views

Are there any open source path planning libraries that implement Voronoi diagram techniques?

I've been looking into path planning for a non-holonomic robot with 3 DOF in a 2D plane and recently learned about Voronoi diagrams but I cannot find any open source planning libraries that use this ...
2
votes
0answers
242 views

Triangulation from calibrated stereo rig

I am using a stereo rig to do SLAM, calibrated using the MATLAB Calibration Tool. I need to compute the 2D coordinates of a landmark using the observation model obtained from triangulation (the images ...
2
votes
0answers
122 views

Random number generation for Particle Filter

I implemented a bootstrap Particle filter on C++ by reading few Papers and I first implemented a 1D mouse tracker which performed really well. I used normal Gaussian for weighting in this exam. I ...
1
vote
0answers
31 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 ...
1
vote
0answers
30 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 ...
1
vote
0answers
50 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 ...
1
vote
0answers
21 views

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?...
1
vote
0answers
45 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 ...
1
vote
0answers
30 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 ...
1
vote
0answers
28 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 ...
1
vote
0answers
34 views

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 ...
1
vote
0answers
22 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 ...
1
vote
0answers
62 views

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 ...
1
vote
0answers
215 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 ...
1
vote
0answers
60 views

ROS: TurtleBot3 motors runs 60 seconds after message is seen in topic /cmd_vel

I am running ROS Kinetic, on a Turtlebot3 Burger with a Raspberry Pi3. The goal here is to remotely control the Turtlebot from another Raspberry Pi. The remote controller Pi sends movement ...
1
vote
0answers
149 views

How does one setup an ESC to drive a wheel-hub motor?

I have 2x 350W wheel-hub motors taken from a self-balancing scooter, or hoverboard. My intention is to use the two of them to drive a homemade R2-D2. However, some difficulties have been encountered ...
1
vote
0answers
265 views

How to simulate water/ pool for underwater vehicle in Gazebo/SimScape?

I have tried SimScape and gazebo but I did not get a solution for simulation of a swimming pool. Can somebody help with the same? Do I have to create the whole swimming pool using simple rectangular ...
1
vote
0answers
135 views

Controls Project, Inverted Pendulum. Design issues

I am developing an inverted pendulum that uses a differential drive robot as base. The goal is to create a benchmark to practice my control using ROS, so I can implement what I learn on the Modern ...
1
vote
0answers
127 views

Kalman filter localisation equations

I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 ...
1
vote
0answers
22 views

Issues with the dual VNH2SP30 motor carrier and 131:1 metal gearmotor 37Dx73L mm w/ 64 cpr encoders

For a while now I have been trying to build my own robotic platform, kind of like a turtlebot. However, I have kept running into an issue with controlling the motors. My main controller for sensor ...
1
vote
0answers
475 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 ...
1
vote
0answers
489 views

SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
1
vote
0answers
626 views

Gazebo laser plug-in fails to publish scan results

I have added hokuyo laser plug-in to mu urdf file. I successfully launched the robot in gazebo and done required changes to visualize it in rviz. I didn't get any error but the laser scan results are ...
1
vote
0answers
115 views

Angles in a Rocker bogie system

How do you select the following two angles in the design of a Rocker bogie system: Angle between two arms of the main rocker, and; Angle between two arms in the bogie.
1
vote
0answers
48 views

Heavy omnidirectional platform suspension

I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid ...
1
vote
0answers
143 views

How to make a robot following a virtual eight figure pattern without using microcontrollers?

The robot should go around 2 boxes and stop at the starting point after tracing a 8 figure pattern. With micro-controllers, i guess it can be easily done using sensors or navigation algorithms. Please ...
1
vote
0answers
136 views

control a robot with pymorse on MORSE simulator question

I am new to Morse and robotics. This code control the robot by giving the linear and angular velocity. This is the scene description ...
1
vote
0answers
62 views

Directional hearing for Linux robot?

I want to give my Linux robot the ability to locate a sound source and drive towards it. I am reading a paper on sound localization that seems to cover the theory well enough, but I'm at a loss as to ...
1
vote
0answers
79 views

computer aided RC airplane combat

http://www.youtube.com/watch?v=4Vh_R1NlmX0 is from 2011 SWARM and shows RC aircraft or combat wings trying to hit each other in the air. Scoring a hit is pretty rare, and I'd like to increase a ...
0
votes
0answers
2 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
28 views

feedback linearization controller 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
5 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
1answer
16 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 ...
0
votes
1answer
10 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 ...
0
votes
1answer
41 views

Localize a Mobile Robot on a Mirror

I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
0
votes
0answers
31 views

Mobile Antenna question

I have a rocket-shaped (tube-shaped) mobile 20mm in diameter. From a base-unit, 600yards away, I want to be able to send two floats (call it x and y) every 1/60th of a second (60Hz data rate [or ...
0
votes
1answer
64 views

How does it get a bizarre term in triangle law of vector equation in a paper

I am reading the paper "Motion control of wheeled mobile robots" at page 5, as we have the equation (34.7), i wonder how it contains $− dc(s)\dot s$ in side. As the triangle law of vector: $\vec{OP}=...
0
votes
1answer
52 views

teleop_twist_joy with Logitech F710 Joystick force feedback error

I am using a Logitech F710 joystick game controller in ROS Kinetic Kame. I was able to perform jstest testing, and can see my joystick works well. But when I try ...
0
votes
2answers
52 views

Variables that Improve SLAM

I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation? The ones I can think of are: A higher resolution camera ...
0
votes
0answers
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 ...
0
votes
1answer
34 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 ...
0
votes
0answers
17 views

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 ...