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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
662 views

Nuc, custom pc or raspberry pi?

For our Minor “Robotics and Vision” we need to use ROS to create a system that can navigate to and from a coffee machine. The available hardware consists of a robotic platform from "Dr Robot", and a ...
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2answers
320 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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3answers
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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 ...
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1answer
175 views

Sensors' field of view in car driving

I want to develop an autonomous driving RC car. For detecting obstacles, I plan to mount 3-5 ultrasonic sensors in the front and in the back the car. What is the minimum necessary combined field of ...
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5answers
533 views

Using vision for Monte-Carlo localization

From each step of my vision code I am able to get around 400 coordinates of where the robot thinks the walls are I want to integrate this into Monte-Carlo observation step. I'm storing the map of ...
3
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1answer
59 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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1answer
54 views

2D Transformations as Affine Matrices

I have found the following exercises about 2D Transformations as Affine Matrices. I am stuck at the second exercise that goes as follows: The 2D pose of a robot w.r.t. a global coordinate frame is ...
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3answers
405 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, ...
3
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2answers
1k views

iRobot Create Serial Cable for Turtlebot I

I need an iRobot Create Serial Cable (one end 7-pin Mini-DIN Connector and the other end is USB) for Turtlebot I. How can I connect my bot to my PC?
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4answers
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Autonomous car steering using IR sensors

I want to steer a RC car in a straight line.The car has 4 sharp IR sensors on each corner of the car to help it steer the corridor.The corridor is irregular and looks something similar to the picture ...
3
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1answer
287 views

Wheel odometry simulation using ground truth

I'm tracking the state of a robot $X=(x,y,\theta)$ where $x$ and $y$ are the ground coordinates and $\theta$ the heading angle. I have the ground truth states $X_{gt}=(x_{gt},y_{gt},\theta_{gt})$. I ...
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2answers
435 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') + ...
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2answers
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Navigating through a Maze using path-planning (Dijkstra)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in ...
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2answers
957 views

How do I choose the best filter for dead reckoning with an IMU?

I'm searching filter to reduce noise and smooth the signal while dead reckoning with an IMU (6dof gyro+accelerometer). What are the differences/advantages/disadvantages of the following filters: ...
3
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1answer
64 views

Are robotic pollenators being designed?

With the bee hive collapses, growers are desperate for pollenation options. Is anyone working on swarms of tiny flying robots to augment the bees? They could look for a certain color, poke around ...
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2answers
182 views

Can we use this line sensor as a proximity sensor?

I have an RSL Line Sensor which is designed to distinguish black and white lines. It detects white surface and gives me digital 1 as output, with 0 in case of black, but the surface needs to be close ...
3
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2answers
889 views

Connect sensors to beaglebone/arduino in a complex robot

I'm building the biggest robot I've ever done. The hardware I have so far is as follows: HCR-Platform from DFRobot as a base x2 12V 146Rpm DC motor with two phase hall encoder x7 Sharp 2Y0A21 IR ...
3
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3answers
227 views

Using robotic simulator for prediction step in probabilistic localization approaches

Probabilistic localization approaches like Kalman or Monte Carlo benefit from an accurate prediction step. The more accurate the prediction step, the more accurate is the belief of the robots pose. In ...
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2answers
1k views

Line following robot with EV3 Colour Sensor

I am trying to build an advanced coloured lines following robot with the ability to differentiate between many different coloured lines and follow them. I am looking for the right sensor that will ...
3
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2answers
240 views

Building robots with high reliability, durability, and battery life

I'm involved in research on psychologically plausible models of reinforcement learning, and as such I thought it'd be nice to try and see how well some to the models out there perform in the real ...
3
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1answer
244 views

How do I interpret these specs for a motor and motor driver?

I ran into confusion while reading about motors. Consider a motor with these specs: Maximum motor voltage - 6VDC No load current - 250mA max. Stall current - around 1A I am considering using the ...
3
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1answer
76 views

Confusion of EKF equations

I read Probabilistic Robotics by Sebastian THRUN (online version). I also read http://ais.informatik.uni-freiburg.de/teaching/ws12/mapping/pdf/slam04-ekf-slam.pdf Question1 : What will be the ...
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1answer
143 views

Software for mission planning in multi-robot systems

I am interested in mission planning for multi-robot systems. Given multiple robots and multiple tasks and an environment, I need to specify missions and software should plan for the robot team to ...
3
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1answer
216 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 ...
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3answers
1k 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 ...
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2answers
761 views

EKF-SLAM initialize new landmark in covariance matrix

I am trying to implement an EKF-SLAM using the algorithm for unknown correspondences proposed in the book "Probalistic Robotics" by Sebastian Thrun in Table 10.2 . By now I understand actually all ...
3
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2answers
554 views

Transformation a robot in 2D?

I'm watching this video at 36.00 min. The guy gave an example but I'm not sure what is the problem. He stated that if we want to move a robot then we should to the following for inhomogeneous case, ...
3
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1answer
242 views

Where to start for the software side of Robotics? [closed]

I am a Computer Science student entering my last year of college. I'm pretty sure Robotics is what I want to eventually be doing based on my interests in AI and embedded systems. I've seen a lot of ...
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1answer
1k views

Questions about Irobot Create

I'm interested in getting a Create for a project I'll be working on, and wanted some information about it from somebody that already has one: How much weight can it safely carry? I talked with Irobot'...
3
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1answer
678 views

Rocker bogie suspension stability

From the designs usually shown of rocker bogie systems, the whole weight of platform seems to be supported by only one rod, be it differential bar or gear. Isn't this a bit unstable system because if ...
3
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1answer
270 views

Performing the proper coordinate system transformation

I could use some guidance regarding a coordinate system transform problem. My situation is this: my system begins at some unknown location, which I initialize the location (x y) and orientation (roll, ...
3
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1answer
638 views

Is a Raspberry Pi processor powerful enough for a mobile chatbot?

In general, is a Raspberry Pi processor powerful enough for a mobile chatbot? I want to make a small mobile robot that is like a chatbot. Is a Raspberry Pi processor powerful enough for any type of AI ...
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0answers
312 views

Obstacle avoiding by Pi camera [closed]

I designed a mobile robot with my colleagues for our graduation project, the purpose of it is to detect mines (metals) in a specific area We are programming the robot using Python on Raspberry Pi 3 ...
3
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1answer
130 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
141 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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0answers
99 views

choose ZigBee modules for full wireless mesh

What is the most common ZigBee IP Modules to create full wireless mesh mode? I know that it should be 1) coordinator and 2) router to create full-mesh But I am interesting about what kind of modules ...
3
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1answer
498 views

Move ATRV robot to specific distance using ROS

Is there a node or package that can send commands to /cmd_vel to move ATRV-Jr like 2 meters forward or turn it 90 degree to right/left? I don't want to tell the ...
2
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3answers
2k views

Alternative to ROS? [closed]

This might be a tricky question, but having dug in deep with ROS I am noticing the complexity that one has to deal with. Simple Arduino programming is much simpler but of course can’t do many useful ...
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2answers
797 views

What's the diffrence between $H_2$ and $H_\infty$ controll?

There a two controllers named $H_2$ and $H_\infty$. Can someone explain if: They have have guaranteed stability margins? Do they have a Kalman filter? Are they for both SISO and MIMO systems? Can I ...
2
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3answers
366 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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5answers
1k views

Why Make Bipedal Robots?

A friend and colleague of mine who studies robotics says that bipedal robots present much greater challenges for stability and locomotion than those with more legs. So why is there so much effort to ...
2
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2answers
468 views

Linear State space model for mobile robot

How can I write a linear state space model for a 4 wheel mobile robot with Ackerman steering in terms of error. I want the robot to follow a line. The robot is rear wheel drive
2
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2answers
189 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). ...
2
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2answers
214 views

Weird magnetometer values

I bought a 3-axis magnetometer (Similar to this one ) And plugged into an Arduino in order to read the heading value. I mounted it on my robot and I drove with the robot for around 30 meters, turned ...
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3answers
2k views

Particle filter weight function

I am trying to implement a particle filter in MATLAB to filter a robot's movement in 2D but I'm stuck at the weight function. My robot is detected by a camera via two points, so a single measure is a ...
2
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4answers
270 views

Voice control solution for Linux robot? [closed]

I wanted to present a voice-controlled robot in my lab's upcoming demo contest. My robot is essentially a x86 Ubuntu notebook resting on top of a two-wheeled platform, so in principle any solution ...
2
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1answer
134 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....
2
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1answer
217 views

Angular velocities and rotation matrices

Let us assume I have an object O with axis $x_{O}$, $y_{O}$, $z_{O}$, with different orientation from the global frame S with $x_{S}$, $y_{S}$, $z_{S}$ (I don't care about the position). Now I know ...
2
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3answers
111 views

Accounting for error in multiple electric motors

Our goal is to drive an autonomous robot with a differential locomotion system using two identical electric motors and an Arduino Uno (1 for each wheel). From our understanding, over time the motors ...
2
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3answers
202 views

What middle-ware do you recommend for a swarm of AUVs?

Working with a swarm of robots, collaboration between the nodes is really important(either for the goal of simulation or real-word operation). Middle-wares are the frameworks for this special purpose. ...