# 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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### 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,...
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?
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 ...
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, ...
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 ...
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, ...
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: ...
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 ...
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 ...
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 ...
85 views

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 ...
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 ...
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. ...
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....
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.
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? ...
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 ...
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 ...
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, ...
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 ...
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 ...
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). ...
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 ...
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 ...
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 ...
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 ...
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 ...
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 ...
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. ...