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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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1answer
50 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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19 views

sampling-based path planning approach

I have been doing a project on robot path planning. A question has arisen in my mind during the project What are the state of the art sampling-based path planning schemes for the dynamic environment? ...
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35 views

ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
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1answer
42 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 ...
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1answer
41 views

Differential Drive Tricycle WMR with active caster wheel

I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
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1answer
49 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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36 views

How to avoid hair entanglement in your robot wheels?

This isn't about any complex math or physics of robots, but rather an annoying practical issue I don't find much information about. My robot works indoors (house, office) and there's certainly going ...
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14 views

Drone based CV via base station - power requirments

Currently computer vision based inference is impractical on a drone given the significant power draw. Is connecting a drone to a base station which does CV a viable solution to this issue? Has it been ...
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3answers
44 views

Occupancy grid maps

Why do we take probabilistic approch to model the environment for robots in occupancy grid maps.The assumption is always taken that each cell on the grid map is either free or occupied.So why have ...
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problem in understanding this part of the RRTx path finding algorithm

this is a paragraph from the paper of the RRTx algorithm and below it a figure referenced in the paragraph however the No and Nr nodes types are unclear to me what are they exactly ?
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3answers
83 views

How to avoid false encoder counts due to vibration in robot?

I have a couple of motors on my mobile base other than the drive motors, and they tend to create vibration in the robot. When these motors are turned on, the wheel's encoder ticks increase without any ...
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1answer
51 views

Do mobile robots use variable transmissions?

I've built a simple robot that can move. I'm using brushless motors. I've realized that at slow speeds the motors pull a lot of current. I didn't understand the power / current / efficiency charts ...
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0answers
39 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 ...
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2answers
51 views

HTTP requestes for Robot Teleoperation

I'm new to this forum so I apologise if I disrespect some rules. I am considering using HTTP requests to control a robot remotely. The design problem I am trying to solve is that I would like to ...
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1answer
35 views

Motion of a mobile platform inaccurate than industrial robot arm

It is known that with a 7DoF industrial you can achieve an accuracy of ~2mm. However, the motion with a mobile platform is known to be more inaccurate and expensive. I can follow why the motion is ...
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1answer
207 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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1answer
89 views

Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
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1answer
28 views

What is the purpose of an empty link without any child elements?

I was looking at a model xacro [urdf] file in a ROS tutorial when I saw: ...
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0answers
40 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 ...
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1answer
240 views

How to PID tune a four wheel robot?

Four wheel mecanum rover with a mass of approximately 50 Kg. Each wheel has a 20:1 gearbox with encoder at the wheel (rather than the motor). If this was something like a robot arm I would PID tune ...
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1answer
19 views

AC Motors vs Hydraulic motors for skid-steering robot

I'm designing a mobile robot with tracks and skid-steering driving system and I am evaluating whether an electric motor would be better than a hydraulic one. I did some calculations, the total weight ...
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1answer
45 views

Problem understanding a paper about visual odometry

I am reading the following paper: SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems , and I am having some problem understanding some concepts. Before starting I have to say ...
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16 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, ...
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2answers
66 views

motion model for forward movement

I thought this is a simple and well known problem and therefore there is a lot of literature. But I'm not able to find the correct keywords to google the answer. Maybe instead of answering the whole ...
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1answer
80 views

Applications of Reinforcement Learning

Many global-control applications of robotics involve incomplete world information and at best can be represented as a POMDP. Given this, can we really apply RL to most robotics applications? From ...
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1answer
355 views

Extended Kalman filtering for IMU and Encoder

I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
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205 views

two wheel mobile robot odometry

I am using an encoder to calculate the position and orientation of a mobile robot. The robot has two-wheel and each wheel is attached with an encoder, the result I am getting for my position x,y and ...
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0answers
108 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 & ...
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1answer
111 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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33 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 ...
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23 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, ...
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65 views

EKF landmark-based help needed

I am new in localization algorithms and EKF is new for me as well. I think that I implemented EKF (the whole code of class is here. I have problems in updating bearing angle of the robot. Basically I ...
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45 views

How to find the optimal path for a line following maze robot?

First let me explain the problem. This is a maze made only out of black lines on a white surface. The robot has only a few IR sensors which can sense the position of the line. No other sensory input ...
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1answer
70 views

Advantage of Kalman filter in differential drive planar robot

We need to estimate the position and orientation of differential drive robot by using encoders and imu sensor. For this specific case, is there any advantage of using Kalman filter than taking the ...
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3answers
96 views

Arduino for mobile robot

Is it possible to drive the whole mobile differential drive robot with single arduino? Sonar sensor, servo motor, two encoders, two motors, imu, etc. I mean would it give a reasonable performance or ...
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1answer
141 views

Controller algorithm implementation in ROS/Gazebo

I am doing some robotic simulations in ROS/Gazebo and wondering what is the best way (programming-wise since I don't have a CS background) to implement a robot's motion controller. Here are the ...
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1answer
532 views

How to drive mecanum wheels robot: code or algorithm

I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
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0answers
39 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 ...
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1answer
43 views

Forward kinematics of spherical parallel manipulators with revolute joints

I found an article that can help in my investigations. Forward kinematics of spherical parallel manipulators with revolute joints The problem is solved for the following system of vectors, which is ...
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2answers
80 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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1answer
52 views

How does scan matching find overlapping regions in two scans?

I have been reading about scan matching and so far I have gathered that scan matching tries to find the transformation (rotation and translation) which leads to the best match between overlapping ...
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1answer
84 views

Modeling of Robots

There are mainly two approaches for controlling robots (mobile robots and static robots): 1) working with kinematic equations, controlling joint or wheel speeds , 2) working with dynamic equations and ...
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1answer
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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27 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 ...
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1answer
36 views

Doubt on artificial potential field

I am studying motion planning, and I am focusing on artificial potential fields. I have seen that it consists in having a repulsive field for obstacles, and an attractive field toward the goal. But ...
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52 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 ...
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Choosing right motors for self-balancing robot [closed]

I’m looking for right motors for my first self-balancing robot. Design assumptions: robot height: around 120-200 mm robot weight: around 600-800 grams wheels: 80x10 mm or 90x10 mm battery voltage: ...
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3answers
146 views

I wanna make a raspberry pi car using an RC car. I would like to know if the servo multiplexer is necessary?

So I'm working on a project and it involves making a raspberry pi car, be it from scratch or with the help of can rc car. I chose the latter. Now the problem is I don't really have servo multiplexers ...
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robot movement steps

What does term "number of movement steps" mean in multi-robot exploration?. It is a performance metric for comparing results like exploration time and energy consumed by robots during exploration.
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1answer
72 views

Robot localization in a known map without knowing its initial position in that map

Firstly I would like to say that I'm no expert in Bayesian Filters such as Kalman Filter and Particle Filter, but I've used the EKF before in a robot that has both wheel encoders and an IMU to ...

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