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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107 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
371 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
134 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
686 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
173 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
513 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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3answers
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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
1k 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 ...
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2answers
46 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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4answers
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Which is a good and cheap 3D LIDAR or other options? [closed]

Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 ...
2
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3answers
379 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
498 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
196 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
2k 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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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 ...
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4answers
273 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
239 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
203 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. ...
2
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1answer
535 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 ...
2
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2answers
93 views

Why is behavior-based robotics not as popular as deep learning or reinforcement learning?

I am a master student in Germany and one of our professors is doing robotics research but with a different paradigm - the behavior-based robotics based on Subsumption Architecture developed by prof. ...
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1answer
48 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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2answers
246 views

Motion planning and robot controlling

I am stuck with understanding how can I make my robot move along planned path. For instance, if we have a grid map of an environment and applied, for example, A* to plan a path then after that we have ...
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2answers
690 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 ...
2
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1answer
332 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 ...
2
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1answer
481 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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3answers
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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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2answers
1k views

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
433 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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1answer
492 views

Verifying motor selection calculations

I'm trying to select a brushed DC motor for a project. I tried following the advice on sizing electric motors, mentioned in this question, but a few details were missing, and I'm unsure if I properly ...
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3answers
107 views

The uncertainty is big while the sensor is rather accurate at measuring a landmark in EKF-SLAM

I've a 2D sensor which provides a range $r$ and a bearing $\phi$ to a landmark. In my 2D EKF-SLAM simulation, the sensor has the following specifications $$ \sigma_{r} = 0.01 \text{m} \ \ ,\sigma_{\...
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2answers
86 views

Detect road surface in a traffic scene point cloud

I want to analyze a traffic scene. My source data is a point cloud like this one (see images at the bottom of that post). I want to be able to detect objects that are on the road (cars, cyclists etc.)....
2
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1answer
75 views

Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms. ...
2
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1answer
28 views

Does anyone have documentation for a CoroWare Explorer?

I have inherited a CoroWare Explorer from someone who used it for their PhD research years ago. They have no documentation on the robot, and I cannot find any online. Does anyone have a user's manual ...
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3answers
113 views

Interference caused by multiple robots during task completion

Suppose there is an area to survey. If we deploy one robot it takes time T to sweep the area. Now if we deploy 2 robots, we would expect it to take time T/2. However in reality, because we are sending ...
2
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1answer
137 views

FastSlam2.0: ICP Scan Matching vs Odometry? What is the typical time step?

When working with a FastSlam2.0 algorithm, ICP Scan Matching is supposed to give more accurate measurements than odometry. The problem is, that given some noisy measurements from the laser scanner, ...
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3answers
121 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 ...
2
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1answer
94 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 ...
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3answers
4k 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 ...
2
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1answer
350 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 ...
2
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1answer
54 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 ...
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2answers
252 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
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2answers
114 views

Magnetic, low insertion force connector

I'm building a robotic tea-maker/watchdog robot and have a power problem. I would like to be able to have the robot approach a socket and insert the power cord of a cheap immersion heater (120V, 300W, ...
2
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3answers
332 views

Detect polyethylene

First of all, I am in high school[to tell you that I am a newbie and lack knowledge] What I want to achieve for now is a thing that can differentiate between poly bags[polyethylene] and other stuffs. ...
2
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1answer
380 views

Rocker bogie suspension system - pitch angle

What does this sentence mean : "The chassis maintains the average pitch angle of both rockers." Put in other words, " the pitching angle of the chassis is the average of the pitch angles of the two ...
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1answer
682 views

Counts of Quadrature Encoder

Simply, I had Rover 5 with 2 DC motors and 2 quadrature encoders, I just want to use encoders to measure the distance of travelling for each wheel. To start with, I just want to determine the total ...
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2answers
707 views

How to connect Arduino Uno3, L293D motor driver and 3 colour sensors together?

I am trying to build an autonomous multi coloured lines following robot. The parts I have bought so far include: Arduino Uno 3. 3 Colour Sensors (taos tcs 230). L293DNE motor driver. Robot chassis ...
2
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1answer
1k views

Help sending serial command to Roomba

I have a Raspberry Pi hooked up to a Roomba 560's serial port. While going over the spec, I noticed movement controls weren't as simple as I expected. I can't send bytes larger than 255, but, ...
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3answers
2k views

Connecting a Raspberry Pi to a roomba via an FTDI cable

I have a Raspberry Pi with this FTDI cable and a Roomba 560. The Roomba has an SCI port to allow for control of the roomba via serial. I installed the PySerial library on the pi and send valid ...

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