Questions tagged [mobile-robot]
A robot which is capable of moving from one place to another, usually of its own volition.
3
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1answer
63 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 ...
1
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1answer
44 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 ...
0
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1answer
47 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 ...
0
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1answer
27 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 ...
3
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0answers
309 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 ...
3
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0answers
118 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
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0answers
608 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 ...
3
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0answers
98 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
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0answers
29 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
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0answers
46 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
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0answers
228 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
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0answers
117 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 ...
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0answers
20 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 ...
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0answers
15 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
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0answers
16 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?...
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0answers
25 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
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0answers
26 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
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0answers
30 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 ...
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0answers
36 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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0answers
18 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
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0answers
57 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 ...
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0answers
129 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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0answers
47 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
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0answers
117 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 ...
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0answers
192 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 ...
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0answers
124 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
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0answers
120 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 ...
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0answers
21 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 ...
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0answers
441 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 ...
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0answers
442 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
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0answers
580 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 ...
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0answers
112 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.
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0answers
47 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
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0answers
133 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 ...
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0answers
133 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
...
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0answers
59 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
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0answers
77 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
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0answers
7 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 ...
0
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0answers
16 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 ...
0
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0answers
9 views
How to do mechanical calculations for a towing robot?
I am making an automated guided vehicle
AGV will tow standard shopping carts each will weighs 20-30kg
I hope to use 12V DC gear motors 100rpm torque 20kg.cm
(assume the floor is smooth and flat)
I ...
0
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0answers
32 views
Can't get iRobot Create to respond
We have an iRobot Create connected to a Win 10 PC with the cable supplied with the unit.
We have followed the instructions here:
http://www.robotappstore.com/Knowledge-Base/How-to-Use-a-RealTerm-...
0
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0answers
17 views
Inexpensive & minimally viable systems for testing SLAM algorithms?
I've been studying SLAM on my own for some time, I can sift through texts over texts and try my best understanding them. However, without actually implementing them myself, I think I still don't fully ...
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0answers
40 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 ...
0
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0answers
10 views
What's the brand of this acoustic speaker whose operation range is 10-100 kHz?
In this paper
A fully autonomous terrestrial bat-like acoustic robot - PLOS
the robot that is being presented is equipped with an acoustic speaker that can generate 10-100 kHz sound waves. I want to ...
0
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0answers
20 views
Map merging of mobile Robots
I have Five Robots data.Which I used to generate maps. More preciesly Robot 1 generate Map1. Robot 2 generate Map 2, Robot 3 generate Map3, Robot4 generate Map 4 , Robot 5 geberate Map 5. Now these ...
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0answers
28 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 ...
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0answers
26 views
EKF based Slam implementation with landmark identification in Global frame
I am working on mobile Robotics. I want to implement Slam. I have a very specific question about EKF Slam. To implement Slam I read the book "Probabilistic Robotics". I read its online version. There ...
0
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0answers
50 views
Issues with Running Multiple Instructions in Sequence
I tried to use Microsoft Robotics Dev Studio (sample 4) to write a code that was able for robot to go with a square path by just one clicked. However, there is one problem.
When I try to put ...
0
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0answers
301 views
Defining a trajectory for a quadrotor
I' m looking for a trajectory generator (the algorithm doesn't matter, since I m going to write it using C++ ) that generates a trajectory (a parametric curve in space) defined point by point which is ...
-1
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0answers
13 views
Accuracy of the NEO-6M GPS module
For an autonomous bot, I wanted to use a NEO-6M GPS module with an Arduino. How much accuracy can I expect from this specific GPS module?
