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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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 ...
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2answers
251 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 ...
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1answer
258 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 ...
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2answers
249 views

How to perform this reference system transformation?

I have two quaternions that indicate the initial orientation of a four wheel robot, each one in relative to one reference systems. The robot's orientation given by a quaternion q is not the same in ...
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1answer
36 views

Worm gearbox for steering

I'm planning on making a smallish off-road rover (15-25kg net weight) with 4-wheel steering and I was wondering if it'd be a good idea to use (self-locking) worm gearboxes for steering. I've thought ...
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1answer
507 views

Difference between Collision Cone and Velocity Obstacle

I'm trying to understand these two classic approaches to path planning in dynamic environments/with moving obstacles. According to some review papers, there seems to be quite a difference between them,...
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1answer
106 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
596 views

How to eliminate motion blur with realtime performance

I have a robotic system to develop, in first phase of the project I need to track an object. So I placed a geometrical marker on the object to estimate it's pose (rotation, translation). It all works ...
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1answer
195 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 ...
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3answers
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 ...
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1answer
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How to get the projection matrix from odometry/tf data?

I would like to compare my results of visual Odometry with the groundtruth provided by the KITTI dataset. For each frame in the groundthruth, i have a projection matrix. For example: ...
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1answer
2k views

Best localization method?

I am making a robot that is supposed to roam inside my house and pick up trash using openCV. I plan to send information from my arduino mega to my arduino nano connected to window pc using radio ...
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1answer
263 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
758 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
288 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, ...
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1answer
647 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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1answer
151 views

How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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671 views

How to control the velocity of a mobile robot?

I have a differential drive robot whose linear velocity and angular velocity is to be controlled. The current strategy for doing that is: A high level path tracking module spits out the reference ...
3
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1answer
167 views

SEIF ,online version of Graph slam create doubt in Motion Update state

I have a thesis work about Graph Slam The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures I try to implement it with the help of this paper but during the ...
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0answers
481 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 ...
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1answer
142 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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2answers
781 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 ...
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0answers
348 views

Triangulation from calibrated stereo rig

I am using a stereo rig to do SLAM, calibrated using the MATLAB Calibration Tool. I need to compute the 2D coordinates of a landmark using the observation model obtained from triangulation (the images ...
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101 views

choose ZigBee modules for full wireless mesh [closed]

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 ...
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1answer
685 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 ...
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1answer
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What is the difference between a holonomic and an omnidirectional robot?

I have seen the usage of the term "omnidirectional" in robotics, but I have not found a (precise) definition. In the chapter Omni-Directional Robots from the book "Embedded Robotics", it is stated: ...
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What's the diffrence between $H_2$ and $H_\infty$ control?

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 ...
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2answers
95 views

What's the difference between Pose Measurement and Position Measurement?

I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
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3answers
474 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
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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 ...
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2answers
587 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
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2answers
773 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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2answers
245 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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1answer
7k 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 ...
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4answers
315 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 ...
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2answers
70 views

motion model for forward movement

I thought this is a simple and well known problem and therefore there is a lot of literature. But I'm not able to find the correct keywords to google the answer. Maybe instead of answering the whole ...
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1answer
192 views

What is the best adaptive controller for robotic arms?

I have a question that lays on practical experience. What is the best adaptive controller for a robotic arm? Self Tuning Regulator (STR) Model Reference Adaptive Controller (MARC) Adaptive Model ...
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3answers
4k views

How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
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1answer
301 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 ...
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3answers
205 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. ...
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1answer
541 views

How to connect an infrared remote control to PC or Arduino or Raspberry Pi?

I bought my kid a robotics kit with several motors and an infrared remote control (you can steer the robot using IR remote control). Now I want to take it to the next level and control the robots ...
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1answer
692 views

How to calculate battery capacity for my robot system

I am part of a team and we build a robot. I know how many watts all the subsystems of the robot will need and I also know how much time we want to operate it. Our system will need 323.344 Watt and we ...
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1answer
59 views

GraphSlam Matrix Subtraction doubt

I am trying to implement GraphSlam from this paper. I have some doubt regarding the algorithm described in this paper at table2: Algorithm GraphSLAM_linearize. I have a doubt in line 7. As per my ...
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3answers
181 views

Robotics RC Car hack help

I need help with a robotisation project, please. I am new to robotics and have the Maverick RC car pictured below: My project is to add Arduino and Raspberry Pi boards to control the speed and ...
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4answers
2k views

IR pattern projector

I am currently working on a robotics project in which I wish to integrated a depth/object scanner. Now my focus is currently on an IR camera in combination with some sort of IR pattern projector. ...
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2answers
813 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 ...
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1answer
364 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 ...
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1answer
560 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 ...
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2answers
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Is it possible to do SLAM with few IR sensors like Buddy?

I saw Buddy's page and want to purchase for my SLAM research. However, I wonder is it possible to program Buddy for SLAM? According to Buddy's spec, they're only few IR's, sonars and a camera. As I ...
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1answer
463 views

Pins in OpenROV that control the motors?

I'm working on my own ROV project, but I find OpenROV have a ready to use image for my BB so want to use that instead of making my own program, and I already deployed the image, but I can't find which ...

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