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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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 ...
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48 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 ...
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84 views

Why the bldc motor not able to move my water boat?

I have a 1100kv brushless motor from dys with a propeller as shown. I have attached this motor to two pvc pipes joined together as shown and packed the electronics inside polyform to protect from ...
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55 views

How to design a PID controller for boat?

I have a boat with two trusters and a trajectory planner which is based on the bicycle model. In order to control the boat, the linear velocity of each truster has to be provided. The following ...
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245 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 ...
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Count number of collisions while navigating to goal

I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...
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54 views

Jetson TX2 vs small form factor PC for autonomous robots

What are the advantages and disadvantages for each? I can build a small form factor PC with a GTX 1050 which will easily out perform a jetson for the same price. When and where are each more ...
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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 (one on the left and ...
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What's the diffrence between $H_2$ and $H_\infty$ control?

There a two controllers named $H_2$ and $H_\infty$. Can someone explain if: They have have guaranteed stability margins? Do they have a Kalman filter? Are they for both SISO and MIMO systems? Can I ...
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196 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 ...
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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 ...
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91 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/...
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140 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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How to calculate the ground truth of your own simple dataset for testing your SLAM Algorithm?

I have tested my SLAM algorithm on EuRoC, TUM and KITTI Datasets. But I would like to test on my own custom dataset. Moreover, I already rectify how to make my own dataset in TUM dataset format, but I ...
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43 views

Calculate body speed in m/s with weight in the equation?

UPDATE: I have clarified my question for answerers to better understand what I am asking If I have a flywheel, like the one shown in this image, and I know the torque, weight distribution, and weight. ...
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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 ...
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Some doubts regarding SLAM and its technical terms

I have some questions regarding SLAM and some general technical terms used in the context of it. Q1) **Online SLAM vs Offline SLAM**. Can "Online" SLAM be also called "real-time" SLAM? What is the ...
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81 views

Can a tablet be slaved to a laptop to act as a wireless usb?

I have built an InMoov Robot. The tablet I got for his controller is too slow. I am currently using a laptop to control him across a usb cable. I want to get rid of the usb cable. I was thinking of ...
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78 views

Effect of platform speed (how fast it is moving) on the quality of SLAM

I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
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81 views

Collaboration of mobile robot and survaillance camera - classic localization (still) needed?

Just started with the topic of mobile robotics.. so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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76 views

Graph slam augmentation of Identity Matrix

I am trying to implement GraphSlam. I go through this paper http://robots.stanford.edu/papers/thrun.graphslam.pdf. I have some doubt about the algorithm. I attached a picture with this question My ...
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58 views

How can I get the equations of motion used in webots?

I am trying to use the webots platform for developing controllers. I need the differential equations governing the motion of the robots. How can I get the equations of motion used in webots?
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94 views

Mapping of dynamic environment

I want to do path planning in dynamic environment in which obstacles keep changing. Could you suggest me good path planning algorithm for this? . Is D* algorithm suitable for me to achieve this in ...
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136 views

GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
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1answer
583 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 ...
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371 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 ...
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49 views

Calculate information matrix for graph slam

0 I am new to SLAM. I am working on graph slam where I need to do pose graph optimisation. For this requirement information matrix is required between two edges for which the transformation has ...
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37 views

How to handle curved paths in maze

-I have an RPi on Ubuntu with ROS (Kinetic). The task is to solve a maze. I have implemented a left-hand algorithm to navigate through the maze. -The robot is equipped with 3 ultrasonic HC-SR04 ...
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436 views

How to implement a 4 Mecanum wheel Robot kinematic model Practically in code?

Above is the Kinematic model of a 4 wheeled from https://cdn.intechopen.com/pdfs/465/InTechOmnidirectional_mobile_robot_design_and_implementation.pdf, My question is how to use these kinematic ...
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46 views

Extract laser scan from a map and known location

If we have the map of an environment (an occupancy grid for instance) and precisely know the pose of the robot within it. How can one reconstruct what the laser scan should look like at a given ...
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353 views

Omni vs mecanum wheels for drawing robot

I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves. The floor will always be flat with almost no obstacles. The robot will have four ...
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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 ...
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Reinforcement Learning in global and local path planning for mobile robots and self-driving car

Most RL courses start with grid world problem like this where robot has to navigate from start to end and RL helps in generating the optimum policy. (State-action pairing). I am not able to relate ...
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158 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 ...
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2answers
26 views

Sprockets for steering

I'm planning to drive the steering of a AWD rover using stepper motors. Is it usually a good idea to use sprockets and chains for that? Would the precision typically be too low for steering? The ...
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29 views

Can a state lattice planner be used purely as a local planner?

I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a ...
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103 views

How to actually fuse sensor using Extended Kalman Filter

Background I'm working on 4-omniwheel mobile robot. It have encoder on each wheel and MPU 6050 IMU. The robot positioning suffer a great error because slip, so i try to increase the accuracy of ...
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Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
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92 views

Can I apply a common voltage to a high speed running DC motor to stop it? Will it damage the DC motor?

I decelerate the velocity of my robot very quickly by applying a common voltage (eg. 24V to both the terminals using Motor driver) to the DC motors. Given, the motor is running at a very high speed ...
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600 views

How can I avoid Roomba Error 10 Code?

I am trying to run my 600 series Roomba in a large, open space (1700+sf) and it does not recognize the large, open space and throws the Error 10 code. It does not recognize an edge of 2 12"-3" either;...
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58 views

Calculating wheel linear velocity from body velocity

A frame {b} is attached to the centre of a robot chassis. The planar configuration is given by $(x,y,\phi)$ where $\phi$ is the angle between the x axis in {b} and the x axis of a fixed reference ...
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123 views

Jacobian of a planar manipulator with 4 links

I have a mobile manipulator that moves on the plane. The base moves in SE(2) and the manipulator is also planar with 4 links. The mobile base will be a differential drive robot and its motion is ...
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223 views

Matlab Simulation using Webots!

I am trying to run this youbot ( sample world) from webots, where the controller is implemented in MATLAB, on running the code it pops out the following error seen in the picture attached. I have also ...
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37 views

Small AGV robot for ROS application

I am looking for an off-the-shelf small AGV which runs or could be used with ROS. It may include some basic sensors like a camera, an IMU, an Ultrasonic range finder, etc. Really appreciate all the ...
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42 views

Autonomous harvesting robots. What are model possible components and interactions for the entire system? [closed]

I found a video which talk about best autonomous robots that use IA technology to harvest crops. The video is very interesting because, the “ecosystem” of each robot varies a lot from company to ...
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Line following robot with EV3 Colour Sensor

I am trying to build an advanced coloured lines following robot with the ability to differentiate between many different coloured lines and follow them. I am looking for the right sensor that will ...
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Range of a heading angle [0,2π) or [−π,π)

Consider the unicycle dynamics in 2D plane: $$\begin{array}{l} \dot x = v\cos \varphi \\ \dot y = v\sin \varphi \\ \dot \varphi = \omega \end{array}$$ What is the range of the heading angle $\phi$? ...
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51 views

Mobile robot behaviour [closed]

I want to ask people who have designed the control/behaviour system of the mobile robot? As far as I know, architecture might be implemented as a finite-state machine or a behaviour tree. What are the ...
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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? ...
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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 ...

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