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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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 ...
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111 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 ...
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578 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 ...
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23 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
...
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36 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 ...
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221 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 ...
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96 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 ...
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114 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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24 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 ...
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22 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 ...
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29 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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33 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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17 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 ...
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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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111 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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43 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 ...
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92 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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158 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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121 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 ...
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118 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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20 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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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 ...
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429 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 ...
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549 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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109 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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46 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 ...
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131 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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132 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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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 ...
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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 ...
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4 views
Loop time for self balancing robot
I have been working on a self balancing robot and there are quiet 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 ...
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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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17 views
What are the components required to mount a servo inside an ActoboticsTM facing outwards a channel?
Being new into the ActoboticsTM set, it's not always clear to me what the parts are supposed to do.
I'm currently in need of placing a servo inside a channel facing outwards, as depicted on the ...
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36 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 ...
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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 ...
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20 views
Transforming incremental pose from camera frame to wheeled robot base frame
I compute odometry using the stereo camera by minimizing reprojection error. I compute the incremental pose change between frames from time t-1 and t. The odometry is referenced to the left camera ...
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47 views
Actual dimension of Omega in Graph Slam
I have a doubt about GraphSlam Algorithm introduce in this paper. I add a picture to express my doubts (from page 411, 9th in paper):
As per my knowledge $\Omega$ is the information matrix. So in ...
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26 views
Position feedback of a continuous servo motor
How do I keep a track of the continuous servo arm's orientation with respect to the starting/center position? Would using a rotary encoder(relative/absolute) help?
I do not need to hold on to a ...
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18 views
How can we perform Image based Visual Servoing when we dont have the depth information
I am trying to perform image based visual servoing for my robot using a monocular camera. The issue is that in order to calculate image jacobian I need depth information Z.
Can anyone point me to ...
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18 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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26 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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22 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 ...
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13 views
Sigma calculation for EKF based Slam
I am working on EKF based slam. I go through Probabilistic Robotics.
I attachd a picture here. I have doubt about how to calculate Sigma.
I am happy if someone share their views about Sigma. How to ...
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59 views
Plot Robot Position Ackerman Steering
EDIT: Solved by Petch who noticed my axes were not to scale.
I am trying to plot the (x,y) position of a robot using ackerman steering in Matlab.
Imput data:
CenterDist: Distance traveled by robot ...
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29 views
how to increase traction for small robotic acrylic wheels?
I am building a small robot weighing 2 pounds for a project. The robot will be working on a variety of surfaces, namely carpet and flat tile floors. I am planning to create 3 inch diameter acrylic ...
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47 views
Graph Slam Path and Map
Any one have any idea about Graph Slam. To implement graph slam you have to write down a equation mu=(inverse)omega*Xi; The result is the path and map. Now which one is path? Is mu represent the Path?
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13 views
Trying to make a robot with wire “leash” that will be slowly made longer so that robot can be lowered
I've tried looking on Google multiple times, but without success. A lot of it is probably due to a lack of knowledge of the terminology related to the subject.
Basically I'm trying to build a robot ...
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49 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 ...
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62 views
what determines the speed of quadrotor
How to design a quadrotor which travels at particular maximum speed? and how to determine the power required for a quadrotor to hover?
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26 views
memory as a benchmarking criteria for motion planning algorithm
Are there still applications where memory is still a criteria with respect to motion planning algorithms. Are memory efficient motion planning algorithms still relevant?
