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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How does a recursive Bayesian depth filter is used to build a map in visual odometry?

I am trying to understand a paper on visual odometry and I am having troubles understanding how a map is generated using a stereo camera as sensor. The paper I am reading is SVO: Semi-Direct Visual ...
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9 views

Navigation Function : Sphere Spaced Set

The navigation function in a sphere spaced set is given by: Equation How do I determine the value of Lambda?
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58 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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63 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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39 views

Use Camera Calibration Matrix without Toolbox

I am doing this little project where try to calibrate a Raspberry Pi Camera. I use Matlab and I do not want to use the Calibration Toolbox (!). The algorithm I use is the direct linear transformarion ...
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31 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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24 views

Ceiling Camera & robot - SLAM still neded?

I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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63 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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31 views

Robot-telescope prototype controlled by a PC

Has anyone developed mechatronic systems for DIY-telescopes running a PC? Please share your experience, knowledge and nuances (how you acquired current sensors, speeds, electric motors, about ...
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59 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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33 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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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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44 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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135 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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Integrating Arduino Cloud Platform into ROS

I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
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39 views

Path planning for a unicycle

I am having some troubles understanding a concept regarding the path planning for a unicycle. Suppose I want to plan a path that brings a unicycle from the origin to the point $\begin{pmatrix} 1\\ 1\\...
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59 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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75 views

What is the ~tf_prefix parameter does?

I have a TurtleBot3 Robot and when I’m trying to do this command to start the nodes (The ROBOT is real) roslaunch turtlebot3_bringup turtlebot3_robot.launch I’m ...
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273 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 (1 on left and the ...
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34 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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47 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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382 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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7 views

2 NAO robots and a human interacting and exchanging an object

I need to solve the following scenario between 2 NAO robots and one human. Maybe you have advice which NAO accessory or builtin sensor is accurate enough to measure such a distance of 0,5 meters and ...
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84 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 ...
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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 ...
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52 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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27 views

D* path planning

I am studying D* path planning algorithm. It includes RAISE state and Lower state. I studied many paper on D* and got to know that RAISE state k(X) h(X) + c(X,Y)) then insert X into the OPEN list ...
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35 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 ...
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159 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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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: ...
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33 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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16 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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56 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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52 views

Can't get iRobot Create to respond

We have an iRobot Create connected to a Win 10 PC with the cable supplied with the unit. We have followed the instructions here: http://www.robotappstore.com/Knowledge-Base/How-to-Use-a-RealTerm-...
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112 views

Extrinsic calibration of a multicamera-rig mounted rigidly on a mobile robot

We have a set of 8 cameras mounted rigidly on a mobile robot. The cameras are forming an arc, which allows a 360º vision. I want the extrinsic parameters of them referred to the robot. Is there any ...
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53 views

Minimum distance for a shaft coupling

What is the minimum shaft distance required to do a shaft coupling. I want to mount encoders on my motors but the shaft length is only 15 mm long. My encoders are 12 mm wide. So, I only have 3 mm to ...
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109 views

Loop time for self balancing robot

I have been working on a self balancing robot and there are quite a few parameters and one of them is loop execution time (t_loop henceforth). To my understanding, the smaller t_loop, the better it is ...
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2answers
91 views

outdoor autonomous robot [closed]

i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300) i have ...
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1answer
76 views

Path planning of wheeled robot [duplicate]

let's say the robot Looks like this (an usual robot arm with 4 wheels) : In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position ...
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2answers
994 views

Position Tracking using IMU

I am working on a robot tracking application, where our main tool (a camera) for locating the x & y position of the robot is working on a quite low frequency. Therefore, I am looking for ways to ...
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1answer
103 views

EKF Slam algorithm doubt at observation update

I have some doubt on EKF Slam with known correspondence in the measurement update state. I follow the algorithm from Probabilistic Robotics by Sebastian THRUN. This Algorithm is on Chapter 10 page No:...
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1answer
63 views

Graph slam augmentation of Identity Matrix

I am trying to implement GraphSlam. I go through this paper http://robots.stanford.edu/papers/thrun.graphslam.pdf. I have some doubt about the algorithm. I attached a picture with this question My ...
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107 views

GraphSLAM data accumulation problem

I try to implement GraphSLAM from this tutorial, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. I have some doubt while studying this paper. I hope people who ...
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1answer
68 views

Can a tablet be slaved to a laptop to act as a wireless usb?

I have built an InMoov Robot. The tablet I got for his controller is too slow. I am currently using a laptop to control him across a usb cable. I want to get rid of the usb cable. I was thinking of ...
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32 views

Kalman filter and ekf main difference in elaborate way

I am studying about various filtering techniques for Robot pose esitimation. I came to know two very well known filter technique Kalman Filter and Extended Kalman Filter. To know about this two ...
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41 views

EKF based Slam implementation with landmark identification in Global frame

I am working on mobile Robotics. I want to implement Slam. I have a very specific question about EKF Slam. To implement Slam I read the book "Probabilistic Robotics". I read its online version. There ...
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1answer
52 views

Inter-robot Collision Avoidance

I try to understand some MATLAB code (see below) i found from the web for inter-robot collision avoidance. But I'm not really understand, how the theory behind this code work. Can anyone help me ...
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598 views

How to convert/transform robot local frame to global frame to use in Kalman Filter?

I'm currently working on the iRobot Create 2 platform using a RaspberryPi (Python) and ROS. I have an indoor navigation/ GPS system, which can provide me with x,y coordinates within its coordinate ...
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2answers
145 views

How to implement reference control signal for robot heading?

Some time I found that some robot controller uses a critically damped reference control signal such as in Autonomous Surface Vehicle (ASV) heading controller. My question is how do we implement this ...
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1answer
101 views

Programming the Formula Allcode to run a circuit

In our engineering science lesson, my class has been tasked with programming the Formula Allcode buggy to run a pre-specified circuit with smooth turns. The issue we are having is that we do not know ...

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