# 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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591 views

### SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
117 views

### Motor Choice given size constraint and load requirement

Good day everyone :) I am an undergraduate student working on a project involving the use of high torque small-sized DC motors for use in designing a person following trolley bag. Where in the ...
5k views

### Should I use gyro or encoders for robot moving in straight line?

I've recently succeeded in building my first collision-avoidance Arduino robot with 2 DC motors, and it works pretty well. However, it doesn't move in a straight line yet, when it should. I'm now ...
196 views

### Stabilising an inverted pendulum

With the problem of stabilising an inverted pendulum on a cart, it's clear that the cart needs to move toward the side the pendulum leans. But for a given angle $\theta$, how much should the cart move,...
1k views

### Linearize a non linear system

How do I linearize the following system using taylor series expansion: $\dot x = v cos\theta \\ \dot y = v sin\theta \\ \dot \theta = u$ Here, $\theta$ is the heading direction of my robot, measured ...
677 views

### VFH (Vector Field Histogram+): Obtaining the Primary Polar Histogram

Good day Note: I have found out that my code works. I have placed a minor explanation to be further expounded. I have been having trouble obtaining the right directional output from my ...
343 views

### VFH+ (Vector Field Histogram+) : Is it possible to choose a candidate sector without a set goal point?

Good day I am currently implementing the VFH algorithm. Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle? I have been able to ...
57 views

### Issues with Running Multiple Instructions in Sequence

I tried to use Microsoft Robotics Dev Studio (sample 4) to write a code that was able for robot to go with a square path by just one clicked. However, there is one problem. When I try to put ...
472 views

### Configuration space obstacle - calculating collision

I need to calculate the configuration space obstacle to planning a path with a mobile robot. The idea is to divide the obstacles and the robot in triangles and test whether is there any triangle from ...
2k views

### Generalized Voronoi Diagram

I need to compute the Voronoi diagram for a map with some obstacles but I can't find any pseudo-code or example in MATLAB. The "voronoi" function in MATLAB works with points, but in this case the ...
222 views

### The velocity profile of my robot is fluctuating

I am presently doing a robotics project. I am using USARSIM (Urban Search and Rescue Simulation) to spawn a robot. I am trying to create different behaviors, like: goal following behavior; obstacle ...
142 views

### Mobile robot algorithm implementation error

I am working in reproducing a robotics paper, first simulating it in MATLAB in order to implement it to a real robot afterwards. The robot's model is: $$\dot{x}=V(t)cos\theta$$ \dot{y}=V(t)sin\...
79 views

### Suitable uC for atonomous robot

I am going to build an autonomous robot with Kalman-filter for localization integrated from Lidar, encoder, IMU and GPS. I will also add obstacle avoidance while moving to the required position. Is ...
134 views

### How to know the payload of the chassis from its motors?

I'm doing a mobile robot project with robotic arms, I wanted to buy a chassis for my robot that can carry enough weight, but many websites don't give definitive answers about maximum payload. Is ...
1k views

### Regarding Kalman filter and estimating heading with magnetic compass

I have trouble estimating the heading when close to the "pivot" point of the compass, and could use some input on how to solve it. I have set up my angles to be from 0-360 degrees during the testing ...
343 views

### Electric vs. internal combustion engine for propulsion

What are the main differences between electric motor and internal combustion engine for an ATV-sized mobile robot platform in terms of functionality, implementation difficulty ("RC" conversion, "...
857 views

### Mobile robot path following using Model Predictive Control (MPC)

I'am trying to implement a path following algorithm based on MPC (Model Predictive Control), found in this paper : Path Following Mobile Robot in the Presence of Velocity Constraints Principle: ...
487 views

### ComputeShortestPath() in Dstar lite algorithm

In optimized D*Lite algorithm as shown in the figure below (page 5, of the paper D*Lite), when the procedure ComputeShortestPath() is called for the first time in line 31, U(list of inconsistent ...
795 views

### Mechanical odometer with digital output

I would like to mechanically measure the distance a kids electric ATV traveled. The ATV will not be used with kids but as a mobile robot instead. It has a common rear axle for both rear wheels which I ...
361 views

### Meaning of s_last in D star Lite algorithm

In the D*Lite algorithm, described in line 21 of Figure 3, on page 4, in D* Lite, the main() starts with defining $s_{last}=s_{start}$. But value of $s_{last}$ is ...
98 views

### Best sensor to determine "up" versus "down"

I want to start designing an Arduino project and have telemetry readings that indicate tilt or angle of placement. Would an accelerometer be the best for determining tilt? Are there good tutorials?
31 views

### How is Topology-based representation invariant to certain change in environment

The article of Topology-based representation (page no. 13, line 5) says that, topology-based representation is invariant to certain changes in the environment. That means the trajectory generated in ...
372 views

### Autonomous Indoor Positioning System Robot based on CV approach

I have some questions regarding an IPS autonomous robot system, Configuration: Mounting a camera to the ceiling of a room Assume the room is a cube of 5mx5mx5m (LxWxH) Assume the camera is ...
67 views

### Meaning of the equation of graphical model

The paper Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions by Ivan et.al., says on page 10 that the Approximate Inference Control (AICO) ...
52 views

### Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics

In the article of Topological Based Representation(Page no. 12), the equation of the Linear Gaussian system dynamics is given as In above equation what is the meaning of 'curly N'?
57 views

### Meaning of 'sign' in Writhe Matrix

Following is the equation of Writhe matrix from the article Topology based Representation(page no. 6). What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some ...
679 views

### Difference between g-value and rhs-value in Lifelong Planning A*

What is the difference between g-value and rhs-value of Lifelong Planning A* algorithm? According to this link, D* Lite, g(s) directly correspond to the g-values of an A* search, i.e. g(s) = g(s') + ...
104 views

### create2 commands with an app called SERIAL

there is an app called SERIAL, available in the app store. I've downloaded it on my mac and am experimenting with it, any ideas on how to send create2 OI commands using "Serial"? so far it seems a ...
326 views

### How to decide the battery power for my robot

I need my motor to be powered with 12V, 5A for 1 hour continuously. How can i decide the Ah rate of the battery. Please suggest some lithium ion battery for the specification
6k views

### Why would a drone need a magnetometer? Are an accelerometer and a gyroscope not sufficient?

Why would a drone need a magnetometer? What would the drone do with this information? I think it would be to tell direction, but why would it need this if it has an accelerometer and a gyroscope?
201 views

### Angle to a circle tangent line

I want to simulate the detection of a moving object by a unicycle type robot. The robot is modelled with position (x,y) and direction theta as the three states. The obstacle is represented as a circle ...
283 views

### Real-time object classification for an indoor autonomous quad-rotor

I am designing an indoor autonomous drone. I am currently writing an object classification program in OpenCV for this purpose. My objects of interests for classification are: ceiling fans; AC units; ...
1k views

### Relationship between motor torque and acceleration

I am working on designing and building a small (1 1/2 lbs), 2-wheeled, differential drive Arduino-controlled autonomous robot. I have most of the electronics figured out, but I am having trouble ...
548 views

### Dynamic model of a robot lifted by a balloon (Multibody system)

I'm having a hard time trying to understand how to obtain the dynamic model for a system similar to the image. The balloon is a simple helium balloon, however the box is actually an aerial ...
175 views

### Applying MoCap data to real life robot

I have a Kinect Sensor, and iPi software I use to create motion capture data to use in film editing. I am looking at creating a small, Raspberry Pi driven bipedal robot just for fun, and I was ...
696 views

### Computer stereo vision simulator

In my research project I deal with a mobile robot that perceives through stereo vision. As the stereo input data I currently use several datasets taken from a passenger vehicle that contain real world ...
200 views

### Suitable D star variant is for non-holonomic motion planning of mobile robots

I am working on a non-holonomic motion planning problem of a mobile robot in a completely unknown environment. After going through some research papers, I found that D-star algorithm is widely used in ...
436 views

### why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...
2k views

### Understanding Drift in Simultaneous Localization and Mapping (SLAM)

I am trying to understand the effect of drift in Simultaneous Localization and Mapping (SLAM). My understanding is that drift occurs because the robot tracks its position relative to a set of ...
76 views

### Mobile phone power packs

For my robotics project I would like to utilise readily available mobile phone 'power banks' to simplify the power system for my robot. However, such power banks output 5V, great for the logic systems ...
146 views

### What is the difference between planning for kinematic car, dynamic car, blimp, and quadrotor? [closed]

I am working with a sampling based planning library. When I looked into the implementation, I found for kinematic car a SE2 state space(x, y, yaw), for dynamic car a SE2 compound state space (space ...
6k views

### How to align solidworks global origin with assembly origin while exporting in solidworks to urdf

I have created a robot model in solidworks and exported in solidworks to urdf plug-in. When exporting the co-ordinates of the model is misaligned which is causing problem while using in ROS. As you ...
216 views

### Can I control iRobot Create 2 with NI myRIO and LabVIEW codes?

I need to know if the iRobot Create 2 can be controlled with a NI myRIO that has been programmed through LabVIEW. The goal is to program an autonomous robot for real-time tracking using a Kinect ...
1k views

### Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to ...
238 views

### Determine robot's position in a nearby room

Scenario I have 2 roaming robots, each in different rooms of a house, and both robots are connected to the house wifi. Each robot only has access to the equipment on itself. Question How can the ...
223 views

### How to connect Phone to Robot while charging phone from external battery?

I am controlling a robot via usb from an Android phone running the robot's code. This phone has a poor battery and I need to extend its life with a USB charger (can't change phones). How can I charge ...
814 views

### Gazebo laser plug-in fails to publish scan results

I have added hokuyo laser plug-in to mu urdf file. I successfully launched the robot in gazebo and done required changes to visualize it in rviz. I didn't get any error but the laser scan results are ...
1k views

### How to combine odometry information with time-shifted information from IMU?

I'm working with a differential-drive robot that has odometry measurements from wheel shaft encoders and heading information from an IMU (I'm using BNO055 in IMU mode to get Euler angles, primarily ...