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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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Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)

I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174) In this context I have ...
BoChri's user avatar
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3 votes
0 answers
531 views

How to fuse IMU with encoders in EKF

Background I have a car-like mobile robot (4 wheels, where the forward ones are steering wheels) and I want to estimate its pose and velocity assuming 2D planar motion. I'm trying to solve this ...
Andrea Eusebi's user avatar
3 votes
1 answer
975 views

How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
Luke H's user avatar
  • 31
3 votes
0 answers
200 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 ...
oswinso's user avatar
  • 141
3 votes
1 answer
214 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 ...
Encipher's user avatar
  • 419
3 votes
0 answers
392 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 ...
osuarez's user avatar
  • 358
2 votes
0 answers
51 views

Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
Joe's user avatar
  • 324
2 votes
0 answers
67 views

How to properly model a non-holonomic system?

I'm trying to model a robot which is composed of a non-holonomic and a holonomic system overall is non-holonomic. Basically it's a robot arm + mobile platform. So far I have found a similar work like ...
user3228605's user avatar
2 votes
2 answers
90 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?...
5P1D3R_M0NK3Y's user avatar
2 votes
0 answers
97 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 ...
RobinW's user avatar
  • 141
2 votes
0 answers
47 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 ...
Encipher's user avatar
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2 votes
0 answers
458 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 ...
Klik's user avatar
  • 163
2 votes
0 answers
174 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 ...
user1965914's user avatar
1 vote
0 answers
27 views

how to adjust mobile robot orientation If an obstacle is detected within the minimum safety distance?

I do have calculated a trajectory for holonomic and omnidirectional mobile robot and make the robot follow the pre-defined trajectory making use of the resolved-velocity control. However, in some ...
Yaaqob Saad's user avatar
1 vote
0 answers
33 views

Alternative Landmark Observation Model for Fast SLAM using 3D Point Clouds

I am in the process of implementing a Fast-SLAM Algorithm as it is described in Chapter 13 of Probabilistic Robotics by Thrun, Burgard and Fox or this publication by Thrun, Koller and Wegbreit however,...
Roman Stadlhuber's user avatar
1 vote
0 answers
25 views

How to avoid Cusps and Corners when generating spline?

Here I wrote Qubic spline trajectory generation. The following are the result. Spline that generated Curvature of the spline Yaw angle changes According to Figure 02, there is a sharp change in yaw ...
GPrathap's user avatar
  • 137
1 vote
0 answers
180 views

Kinematic model of skid-steering mobile robot (4 wheeled mobile robot)

The kinematic model for skid-steering mobile robot (4 wheeled mobile robot) is where state vector is $q = (x,y,\theta)$, and $\eta = (v,w)$ is the linear and angular velocity of the robot, and $x_{...
ajnyh's user avatar
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1 vote
0 answers
94 views

How to calculate the required torque of motor for bipedal robot

I just create a bipedal robot in SolidWorks and after I got all components, I realise that I need select the correct motor for the robot. There will be four motors equipped in the robot, two for hip ...
huiduan's user avatar
  • 11
1 vote
0 answers
54 views

Ideas on how to create kinematic model of skid-steered rocker bogie mobile robot

I'm trying to derive the inverse kinematics of a skid-steered mobile robot with rocker-bogie mechanism. I learned how to derive the kinematics via transformation matrices as per "Kinematic ...
user3784054's user avatar
1 vote
1 answer
360 views

Differential Drive Control Techniques

I have a mobile robot that has a differential drive technique. I try to control the robot with PID controller. Is the best way for controlling differential drive robots? If I want to compare different ...
bb0667's user avatar
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1 vote
0 answers
189 views

Rviz Status Error in Costmap: Update area outside original area

“update area outside of original map area” is the error I get when visualising the topic /move_base/global_costmap/costmap. The cost map displays correctly, there is nothing on google or the docs to ...
Rohan's user avatar
  • 11
1 vote
0 answers
77 views

Fusing cross-correlated measurements for mobile robot's localization using unscented kalman filter (ukf)

I'm currently working on a mobile robot's indoor localization. On the perception side, I can only rely on a 2D lidar and wheel odometry. I have used these sources as input of different localization's ...
Kenza's user avatar
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1 vote
0 answers
44 views

Robotic Platforms Similar to the PiBot(Locobot)

I am brain storming platforms to use for a project I am working on. I'm looking for an mobile platform with a manipulator attached. I originally was focusing on the PiBot, but after doing some ...
neerbasu's user avatar
1 vote
1 answer
132 views

digital servo won't seek to angle if delta between current position and target is more than ~15 degrees

My students and I are using a Hiwonder LD-220MG digital servo to position a "shoulder" on a robot. We are seeing a behavior (on every one of these servos that we test) that it won't go ...
Gever Tulley's user avatar
1 vote
0 answers
493 views

Degree of maneuverability mobile robot

According to the traditional kinematic theory for mobile robots [1][2] a mobile robot with a steerable wheel and two passive casters presents a $\delta_m=2,\delta_s=1,\delta_M=3$. This is easy to ...
elToro's user avatar
  • 11
1 vote
0 answers
201 views

How does inverse compositional Lucas–Kanade algorithm work?

I am trying to understand the Lucas–Kanade algorithm since I am reading a paper in which is applied the inverse compositional Lucas–Kanade algorithm, but in order to understand the latter I have to ...
J.D.'s user avatar
  • 479
1 vote
0 answers
21 views

Use polynomials to detach number of MPC controls from size of time-horizon?

Model Predictive Control (MPC) works by finding a set of controls $u_0, \dots, u_n$ that minimize a cost function $J$ over a time-horizon $[t, t + T]$. Typically when MPC is used on mobile robots, ...
xperroni's user avatar
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1 vote
0 answers
412 views

What is the definition of the phrase "ego robot"?

What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
Ahmed Essam El Fakharany's user avatar
1 vote
0 answers
60 views

Formulas for calculating the passive joints angular velocities

We have the following parallel robot architecture: Positions of the vectors $u_i, v_i, w_i$, the angles $\theta_i$, angular velocity $\dot{\theta_i}$ and the Jacobian $J$, that mapping vector of ...
dtn's user avatar
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1 vote
0 answers
36 views

Hint regarding Localization & Map Scaling

I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
mrsing's user avatar
  • 11
1 vote
0 answers
59 views

Are rotary encoders necessary for holonomic mecanum drive?

I'm making a robot which is going to have a holonomic mecanum drive. The doubt that I'm having is that should I use rotary encoders for doing so. The bot will be manually controlled so would it be ...
Utkarsh Verma's user avatar
1 vote
0 answers
37 views

How do I say if a system is differentially flat?

I am studying mobile robots, and I have encoutered the concept of differentially flat systems. I have seen that if a system is differentially flat, we can identify flat outputs, thanks to which we can ...
J.D.'s user avatar
  • 479
1 vote
0 answers
62 views

When do I do motion planning?

I am studying mobile robots, and I am focusing my attention to the unycicle. I have a doubt concerning the motion planning part. In particular I don't understand when the motion planning is done and ...
J.D.'s user avatar
  • 479
1 vote
4 answers
909 views

Robotic arm servo motor- Not enough torque

I require your help regarding a problem I’m encountering. I am a beginner in robot modelling. I am designing a robotic arm for agricultural use and I am having issues with the motors. I am using ...
el.T's user avatar
  • 11
1 vote
0 answers
113 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 ...
WhiskeyTango's user avatar
1 vote
0 answers
68 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 ...
Geek's user avatar
  • 111
1 vote
0 answers
121 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 ...
round right farm's user avatar
1 vote
0 answers
43 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 ...
Michael Julyus Christopher M.'s user avatar
1 vote
0 answers
44 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 ...
J.V.'s user avatar
  • 11
1 vote
0 answers
72 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 ...
machine424's user avatar
1 vote
1 answer
1k 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 ...
Kemal Ficici's user avatar
1 vote
0 answers
40 views

Kalman filter and ekf main difference in elaborate way

I am studying about various filtering techniques for Robot pose esitimation. I came to know two very well known filter technique Kalman Filter and Extended Kalman Filter. To know about this two ...
user avatar
1 vote
0 answers
150 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 ...
Daniel's user avatar
  • 111
1 vote
0 answers
322 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 ...
user avatar
1 vote
0 answers
260 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 ...
Renan Monteiro's user avatar
1 vote
0 answers
149 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 ...
Nekromant's user avatar
1 vote
0 answers
28 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 ...
Roy Xing's user avatar
1 vote
0 answers
720 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 ...
Beginner_In_Image_Processing's user avatar
1 vote
0 answers
670 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 ...
osuarez's user avatar
  • 358
1 vote
0 answers
979 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 ...
user3725099's user avatar