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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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2answers
69 views

What's the difference between Pose Measurement and Position Measurement?

I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
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1answer
53 views

Can I use experience in Game AI development to develop autonomous driving robots? [closed]

Can I use experience in Game AI development to develop autonomous driving robots? How much similar this areas?
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2answers
1k views

How to find inverse kinematic equations for a quadruped robot to make it walk?

I have made a model of quadruped robot (sprawling/spider type and not dog type) in V-rep and now I want to make it walk by using creep gait. (i.e moving 1 leg at a time) As I understand, I have to ...
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3answers
320 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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1answer
73 views

How to calculate the right needed Power?

Me and my team are building a robot and I need to calculate the Power of the motors. Through my research I found that I must know the needed torque for every motor and then convert it to electrical ...
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1answer
494 views

How to calculate battery capacity for my robot system

I am part of a team and we build a robot. I know how many watts all the subsystems of the robot will need and I also know how much time we want to operate it. Our system will need 323.344 Watt and we ...
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1answer
35 views

What is the Control mixer block that is usually found in control schemes?

There is usually a control mixer block in control schemes in robotics. What is it and what is the functionality and where can I read more about it. Reference to the paper: https://giuseppesilano.net/...
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1answer
190 views

how to use ROS navigation stack with 4 wheeled robots

I have a 4 wheeled toy car, with 5 motors, one on each wheel and one is used for steering. How can I use ROS navigation stack with this robot since navigation stack is used with differential drive ...
2
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1answer
30 views

Angular Velocities of CoM in Global Coordinate

The block diagram of the robot is shown as above. Here, $\phi$ is the angle between $X_v$ and $X_0$ (Yaw angle of the robot), and $\psi$ is the angle between $Z_b$ and $Z_v$ (pitch angle of the robot'...
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0answers
64 views

feedback linearization for a quadrotor

I am trying to develop a controller for a quadrotor using dynamic feedback linearization technique, but I am not sure I am doing thigs correctly. I know that for designing such controller I have to ...
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2answers
1k views

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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1answer
22 views

rtk-gps faster (60Hz) and cheaper?

The below rtk-gps measures position to about 1.5inches for $1500 and an update rate of 5Hz on gps, and it measures 12.6mm x 4.6mm so that it would easily fit inside of a 20mm-diameter tube-shaped ...
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3answers
92 views

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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0answers
36 views

Mobile Antenna question

I have a rocket-shaped (tube-shaped) mobile 20mm in diameter. From a base-unit, 600yards away, I want to be able to send two floats (call it x and y) every 1/60th of a second (60Hz data rate [or ...
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3answers
515 views

How to control the velocity of a mobile robot?

I have a differential drive robot whose linear velocity and angular velocity is to be controlled. The current strategy for doing that is: A high level path tracking module spits out the reference ...
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1answer
89 views

How does it get a bizarre term in triangle law of vector equation in a paper

I am reading the paper "Motion control of wheeled mobile robots" at page 5, as we have the equation (34.7), i wonder how it contains $− dc(s)\dot s$ in side. As the triangle law of vector: $\vec{OP}=...
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1answer
62 views

What is the cheapest 20mm-diameter roll-angle-sensor (+/-10deg, 60Hz update) you have come across? [closed]

What is the cheapest roll-angle-sensor (10degree accuracy, 60Hz update) you have come across for airborne mobile robots that have a 20mm diameter, shaped like a rocket? (The robot is shaped like a ...
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1answer
69 views

Does Vehicle Yaw angle measures same at every point on it? If not, how to translate yaw rotation to COG of the vehicle from different point?

I am using an IMU to measure the yaw rotation angle of a car. I need to translate the rotation measured to COG of the vehicle. I can ignore roll and pitch as I am driving it on a flat surface. So, ...
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1answer
987 views

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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2answers
73 views

Variables that Improve SLAM

I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation? The ones I can think of are: A higher resolution camera ...
4
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2answers
119 views

Why is behavior-based robotics not as popular as deep learning or reinforcement learning?

I am a master student in Germany and one of our professors is doing robotics research but with a different paradigm - the behavior-based robotics based on Subsumption Architecture developed by prof. ...
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1answer
219 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 ...
3
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2answers
566 views

In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using ...
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0answers
25 views

Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
2
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1answer
119 views

Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms. ...
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3answers
49 views

How to access Raspberry Pi over wifi?

I have to use Raspberry Pi with Arduino on a mobile robot and access Raspberry Pi on a PC through WiFi. Is it possible? Please explain how to do it?
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4answers
670 views

How to suck using vacuum only first sheet of paper from pack of paper?

We are designing robot that will pick and place sheets of paper. We have found an issue that it is hard to suck only first sheet of paper of paper pack. Issue occurs because paper sheet passes vacuum ...
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1answer
70 views

What robotic skills can I develop when working as a robot operator? [closed]

I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
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1answer
70 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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1answer
54 views

Path planning with potential field

Can shortest path be computed using potential field path planning algorithm? Or is it just for obstacle avoidance and navigative towards goal? As i studied potential field deals with attracrive/...
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1answer
91 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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1answer
50 views

Mapping of unknown environment

My question is how do obtain occupancy grid map given sensor data of a robot? . I searched a lot and concluded that by using proximity sensors (rangefinders, sonar) and putting that data in occupancy ...
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1answer
522 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 ...
5
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1answer
393 views

Multiple machine ROS image transmission error

I'm currently trying to establish communication between my Raspberry Pi based robot and a Cluster which are on the same network. Although I am able to ping and SSH one device using the other, I'm ...
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0answers
40 views

Multi robot exploration

I am implementing 2d slam for multi-robot exploration for my university project using GMapping package of a ROS and vrep sofrware. But I also have to implement the following three algorithms in ...
2
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1answer
142 views

How to build map for unknown environment? [closed]

In order to create a map for unknown environment, we have two solutions: The size of the area should be given (grid-based maps) so simply we create 2D grid and have our robot to move discrete ...
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1answer
314 views

EKF SLAM : SLAM specific Jacobians for new landmarks

I am currently trying to understand the books SLAM for dummies and Simulataneous localization and mapping with the extended Kalman filter to implement slam. I have understood steps 1 and 2 SLAM for ...
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0answers
14 views

There is an error when i use kinect v1 with Mrpt tool

when i use mrpt tool to calibrate kinect v1, there is an error: ...
0
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2answers
62 views

Multiple robots performing a set of tasks (Optimization)

Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
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0answers
120 views

RpLIDAR unable to see black objects

I am working on a ROSBOT for a natural navigation project. While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
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2answers
37 views

Lifting robot that moves like a plotter

I'm looking for what a robot that moves like a plotter but can grab a load up to 1kg with a claw, lift, rotate and place in another location within its range. What is this type of robot called?
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0answers
17 views

How to perform system identification of a mobile robot using white box approach?

Why isn't there much research going into the extraction of inertial and frictional values? Is there any standardized approach? Edit: I will give a sample application! Say if we want to implement a ...
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2answers
151 views

Free Multibody Dynamics Software?

I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
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1answer
45 views

Does anyone have documentation for a CoroWare Explorer?

I have inherited a CoroWare Explorer from someone who used it for their PhD research years ago. They have no documentation on the robot, and I cannot find any online. Does anyone have a user's manual ...
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2answers
69 views

Electronic Speed Controller

What should be the specification of ESC that I should use for a 320KV 1820W brushless DC Motor?. Is it necessary to use an 80A ESC?, Basically, How can I choose the required ESC for a motor?
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1answer
57 views

Autonomous Navigation Bot [duplicate]

I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
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3answers
1k 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 ...
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1answer
1k views

What is the difference between the pose of a robot and the configuration of a robot?

Do "configuration" and "pose" means the same thing? If not what is the difference?
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2answers
1k views

IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
3
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1answer
76 views

High power jumping mechanism in small robots

I recently saw this video on YouTube featuring a jumping robot: 5 Fastest Robots In The World I was curious how this is accomplished mechanically? Do they wind a strong spring or use some sort of air ...

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