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
847 views

Estimating yaw angle and yaw rate for a frontal vehicle

I would like to know if it is possible (and if it is possible how can it be done) to estimate the yaw angle and yaw rate of a vehicle in front of me knowing the following information: -my speed (x,y,...
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1answer
271 views

Computing Yaw angle from position and velocities

I have an object to whom I know the x,y,z position, length, width, height, and x,y velocities. Is there a possibility to compute the yaw angle from this information?
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2answers
5k views

Wheel Odometry Covariance Matrix for Custom Robot

I have been looking around in the forums, but could not find any answer for how to go about getting the wheel odometry covariance matrix for a custom built planar robot (I found some posts related to ...
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3answers
807 views

Mobile robot speed synchronization for straight line moving

I would like to build a simple mobile robot with differential wheels, and I am currently design the wheel speed controller. After reading some papers, I noticed that to realize a straight line moving, ...
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1answer
92 views

How to compute the field of view of a robot when obstacles are around?

Is there a formula to compute the field of view of a robot when it is obstructed by other objects like in this picture When it is a full circle it should be ...
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1answer
155 views

Navigation Potential fields algorithm [closed]

I am working with a raspberry pi which has some positional sensors and I manage it from my mobile with an app I am developing. Now I am trying to understand how to implement this algorithm to code, ...
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3answers
142 views

Robot Veering to the Left

I'm currently programming in RobotC, for a Vex 2.0 Cortex. I'm using encoders to make my robot go straight. This is my code: ...
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2answers
445 views

How path following works analytically for way points?

First of all sorry for the confusing question title. I am also confused about the concept. I have implemented a quadcopter and its controller. Controller finds the rotor speeds based on the position ...
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1answer
182 views

Will Lidar see a fence?

I am looking at the possibility of using LIDAR to do obstacle avoidance for a robotics project I am working on but the project involves avoiding a chain link fence. Has anyone used LIDAR to detect ...
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3answers
1k views

Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization? [closed]

We need a SLAM system for mobile platform which will be used in on-site construction. We are to build a 3D map from clouds of points and need localization in it. We don’t need fast localization, but ...
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2answers
85 views

Accessibility distribution of three vector fields

I have to study the controllability of the kinematic model of a Cycab: $\dot{q}=g_1(q)v+g_2(q)\omega_R+g_3(q)\omega_L$ where $\dot{q}=\begin{bmatrix}\dot{x}\\\dot{y}\\\dot{\theta}\\\dot{\gamma}\\\...
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1answer
857 views

How to check lane departure in OpenCV?

I'm using OpenCV 3 in Python 2.7 on a Raspberry Pi 3. My project's aim is to build an autonomous lane departing robot that can detect the two lanes on its sides and continuously correct itself to ...
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1answer
505 views

How to Visualize a real robot's movements on a map?

I am working on obstacle avoidance and path planning in robotics using X80SV robot. The obstacle avoidance module of the robot works well. The programming language I have used in this work is C#. Next,...
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2answers
348 views

Motion planning and robot controlling

I am stuck with understanding how can I make my robot move along planned path. For instance, if we have a grid map of an environment and applied, for example, A* to plan a path then after that we have ...
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2answers
237 views

Biped Robot not getting on one foot

I am creating a biped robot with an arduino and I have the lower part of the body complete, the legs and hip joints. Before I am going to 3D print the top part of the body I wanted to make sure that ...
3
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2answers
625 views

How to measure pull force on a (kite) rope?

I'm building a kite flying robot, in which I've already got some sensors built in. I now also want to measure the pulling force on the rope which is attached to the kite. So I thought of attaching a ...
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1answer
103 views

1 motor and 180 degree servo or just 2 motors?

I am planning to use this motor: http://www.adrirobot.it/robot_kit/feetech_FT-DC-002/TGP01D-A130_TT-Motor.pdf Model: TGP01DA130 12215-48. But I have some questions: How much a robot will be slower if ...
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0answers
394 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 ...
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1answer
116 views

RobotC graphical raise arms while reversing

I am trying to help my son program his robot using RobitC graphical. He has it doing most of what he wants it to do but the code is stuck and won't continue past the arm raise/ hold. What it is ...
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1answer
64 views

Need clarification on potential fields for robotics

I am taking a course on AI robotics from a computer science department but my background is in mechanical engineering. I am having some difficulty with ambiguous terminology in virtual potential ...
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1answer
44 views

Prediction of Ready to Use Robotic Control Cards Codes

Suppose you have a control card. We do not have access to the control card's code and we do not know which control algorithm is used (PID, PD, PI, Fuzzy, ...). We can only measure the control inputs ...
2
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1answer
2k views

How can I calculate Center of mass for each link of Robot?

I want to calculate 'r' I know , and the Position of(X, Z) But I don't know how to apply it in this robot.
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2answers
119 views

Permanent Magnet DC Motor Calcuations

I have to determine speed and torque suitable for my combat robot. I've done some calculations and I need to know whether they're right or not (because they don't seem to be right). Suppose I have ...
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4answers
124 views

Why there is so much research going on in humanoid robots? [closed]

It seems like humanoid robots is the hottest field of research in robotics. Government agencies are giving huge sums of money to private firms and labs to develop them (For example, Boston Dynamics ...
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2answers
994 views

What is the bicycle model for a dynamic robot?

I was asked this in a phone interview for a robotics job. Googling has not really helped. I assume it is some sort of state prediction model that can be used in a Kalman filter. Can anyone give me a ...
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1answer
696 views

Differential Drive Odometry Model

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3answers
187 views

Mobile robot identification

The problem: line follower robots - non linear systems - use linear PID regulation algorithm in order to bring error to zero. However, using linear regulator is not the best way to drive non linear ...
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2answers
715 views

How does fast slam creates grid maps?

I've implemented fast slam using landmark detection and the map stored is a feature map, made of landmarks positions. I would like to create a grid map, and my questions are about how does the robot ...
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1answer
66 views

Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?

Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
4
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1answer
240 views

Area coverage of autonomous underwater robot

I'm currently working on an autonomous underwater cleaning robot and would like your input on some navigation algorithms Problem: Wash the inside of big, open and filled tank, e.g. water storage ...
2
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1answer
175 views

Object Detection and Pose Estimaion

I am working on a robotics project for fun and can't really wrap my head around a solution to my perception problem. Setup: My robot will have a stereo vision setup and will have to detect certain ...
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1answer
3k views

Error while running rosserial node in ROS

I have an Arduino connected to ROS through serial port. I wrote an ardiuno code to drive motors. below is my code. ...
3
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1answer
139 views

How can we solve the problem of robot size in sensor based motion planning?

As you know in Bug algorithm there is a simplifying assumption that says the robot has no size and can fit between any arbitrarily small gap in the map. How can we overcome the challenge of robot size....
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1answer
117 views

How to test how much current 9 servos can draw at a time? [closed]

Plus how should I use a multimeter to test it? P. S. Really sorry for a noon question.
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1answer
3k views

Implementing pure pursuit problem in robot navigation? [closed]

I would like to implement pure pursuit waypoints navigation. we know that, look ahead distance=look ahead gain*vehicle forward velocity How can I calculate look ahead velocity gain/look ahead gain? ...
3
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1answer
141 views

Seminal work in multi-robot task decomposition [closed]

Multi-Robot task decomposition implies that there is a mission that needs multiple mobile robots like guarding the president's car with a team of drones. This high-level layman interpretation of the ...
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0answers
562 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 ...
1
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2answers
208 views

Choosing motor to buy after calculations

I am building a two wheeled robot which will have: max speed of 10km/h and acceleration of 0.5m/s² can climb 12° slopes weighs at most 30 kg wheel diameter is 50cm By doing the calculations myself, ...
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2answers
763 views

State estimation of mobile robot

For a mobile robot - four wheels, front wheel steering - I use the following (bicycle) prediction model to estimate its state based on accurate radar measurements only. No odometry or any other input ...
2
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2answers
161 views

Estimating state of moving object from other moving object

What is the best way to estimate the state [x-position; y-position; heading (yaw angle); velocity; acceleration; curvature (or yaw rate)] of a moving ...
2
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2answers
238 views

What is the torque transmission efficiency using a bycicle chain/setup for robot?

For this robot the gear attached to the motor is linked to the gear attached to the wheels by a bicycle chain (I am using a bicycle wheel and transmission set as the parts for the robots movements). ...
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2answers
323 views

Help finding robot tracks

I have a Robot with tracks. One of the tracks broke and I need to find a replacement, the tracks use the same plastic interconnects/pieces as this: They were very popular years back. Does anyone know ...
3
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0answers
370 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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3answers
539 views

Addressing the sample impoverishment in particle filter

I have implemented a particle filter algorithm for the state estimation of a mobile robot. There are several external range sensors(transmitters) in the environment which gives information on the ...
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1answer
102 views

view angle of distance sensor

I need a distance sensor (IR or Optical or any other) with 90 degree view angle to sense a rectangle surface. in this case sensor must putting at the same level of surface area. please help me to ...
2
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1answer
97 views

PID Gains: Drop in control loop rate, need to retune?

Good Day, I am working on an autonomous quadcopter. May I ask if there is a significant difference if my control loop dropped from 500Hz to 460Hz due to added lines of code that would require ...
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3answers
521 views

Autonomous Navigation without Distance Sensors

I'm doing a project with the iRobot Create 2. I want it to be able to map out a room and navigate to a point for example. My problem is that the robot doesn't have any distance sensors. What it can do ...
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3answers
433 views

Localising a robot placed at an unknown position in a known environment

I am a third-year electrical engineering student and am working on an intelligent autonomous robot in my summer vacations. The robot I am trying to make is supposed to be used in rescue operations. ...
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1answer
143 views

When was the first time a robot killed a human? [closed]

Scott Adams, creator of Dilbert, recently shared an article about a robot the police used to kill a suspect by detonating a bomb in close range. This made me wonder -- when was the first time a robot ...
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2answers
202 views

what books do you suggest for a beginner like me ? [closed]

i am studying bacholar of dental surgery but have intrest in learning this subjet so tell me about a good book to read.

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