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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21 views

Design of the baseplate of mobile robot

I need to construct a Mobile robots preferably circular type of diameter 30 cm, it will be carrying a payload of 5kg. What will be optimal thickness the baseplate considering the material as aluminium?...
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51 views

Tracking object in realtime using depth image stream from a RGBD camera

I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
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motor selection for farm rover

I'm designing a rover to use as a harvest aid on our vegetable farm. It will be GPS guided using an RTK base station to straddle our parallel fixed-width vegetable beds. (66" wide with 48" of growing ...
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34 views

how to normalize PWM if the value exceeds the maximum speed limit

I have implemented inverse kinematics for nonholonomic mobile wheeled robots, and the RPM range of the motor that I used is -50 to 50, while for PWM is from 1300 to 1700. But in certain cases, the RPM ...
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37 views

Kalman filter with measurements indirectly determining state

I have a question regarding a 'fundamental' understanding of the Kalman filter. So, for my application I'm trying to estimate state $x = [\theta~\dot{\theta}~\ddot{\theta}]$ of a robot based on ...
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28 views

Lost on SEIF Slam repeated update landmark

I am working on Sparse Extended Information Slam. I take the reference from Probabilistic Robotics, by Dr.Sebastian Thrun (Chapter 12,page 303). I have some doubt about the implementation of the ...
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1answer
79 views

How to generate Particles in Particle Filter?

I have been trying to implement FastSlam 1.0. To implement this, I need to create particles. Now my confusion is how to create Particles? I have some odometry and Measurement data. Using those data ...
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64 views

How to apply Kalman filter in this case?

I have some straight and curve pieces with numbers, they are used to build tracks (of $5$ lanes) for my cars (figure $1$), I can send commands to the cars using an SDK on the Raspberry (set the speed ...
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1answer
189 views

Pressure Sensors for Robot Bumper

I'm building an omni-directional robot base and want to add some kind of low-level obstacle detection. The complete robot will have LIDAR and camera for navigation but I'd like to add something at the ...
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431 views

ROS: joint_state_publisher dies when used in remote launch file

I've been trying to run robot_state_publisher and joint_state_publisher on a remote TX1 running Ubuntu 16.04 and ROS Kinetic. When running the node from a local launch file (manually ssh into the ...
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1answer
197 views

Find out Robot Coordinate using odometer data

I have a data set name Robot_odometery which consist of 3 field namely, Time(s),Forward velocity(m/s) and angular velocity(rad/s). I taken this dataset from http://asrl.utias.utoronto.ca/datasets/...
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74 views

ROS: TurtleBot3 motors runs 60 seconds after message is seen in topic /cmd_vel

I am running ROS Kinetic, on a Turtlebot3 Burger with a Raspberry Pi3. The goal here is to remotely control the Turtlebot from another Raspberry Pi. The remote controller Pi sends movement ...
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91 views

Easy cm accurate GNSS / GPS for rover with base station? [closed]

I am trying to design a system to measure snow depth during snow production on a tiny ski resort in Denmark. My idea is simple: Drive a rover over the ground during the summer, and obtain height ...
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191 views

How does one setup an ESC to drive a wheel-hub motor?

I have 2x 350W wheel-hub motors taken from a self-balancing scooter, or hoverboard. My intention is to use the two of them to drive a homemade R2-D2. However, some difficulties have been encountered ...
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1answer
406 views

How to simulate water/ pool for underwater vehicle in Gazebo/SimScape?

I have tried SimScape and gazebo but I did not get a solution for simulation of a swimming pool. Can somebody help with the same? Do I have to create the whole swimming pool using simple rectangular ...
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1answer
174 views

good laser scanner/ lidar for 4 wheel robot? [closed]

i was wondering what could be a good laser scanner can someone get for as much as 180$ ? i am planning to use it from SLAM to build a map, so this is why i wanted to ask here ? have anyone tried ...
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163 views

Beginners guide to Inverse Kinematics for biped robots? [closed]

I'm building a LynxMotion Scout biped and believe that IK are the best way to develop an effective gait. I'm a mechanical design engineer - I currently have minimal skills / experience with ...
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179 views

Controls Project, Inverted Pendulum. Design issues

I am developing an inverted pendulum that uses a differential drive robot as base. The goal is to create a benchmark to practice my control using ROS, so I can implement what I learn on the Modern ...
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134 views

Kalman filter localisation equations

I am doing mobile robot localisation as a project. Now I stuck in obtaining the equations of EKF localisation. My robot moves straight for 10 seconds parallel to x-axis and robot equipped with 2 ...
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24 views

Issues with the dual VNH2SP30 motor carrier and 131:1 metal gearmotor 37Dx73L mm w/ 64 cpr encoders

For a while now I have been trying to build my own robotic platform, kind of like a turtlebot. However, I have kept running into an issue with controlling the motors. My main controller for sensor ...
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127 views

Quadrapod vs Hexapod [closed]

I want to build a robot, but I don't know if I want to build a quadrapod or a hexapod. I would like to use three servos/leg. Can you tell me what are the pros and cons of quadrapods compared to ...
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3answers
1k views

Which sensors will best suited for indoor/outdoor SLAM system with high accuracy of localization? [closed]

We need a SLAM system for mobile platform which will be used in on-site construction. We are to build a 3D map from clouds of points and need localization in it. We don’t need fast localization, but ...
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2answers
79 views

Accessibility distribution of three vector fields

I have to study the controllability of the kinematic model of a Cycab: $\dot{q}=g_1(q)v+g_2(q)\omega_R+g_3(q)\omega_L$ where $\dot{q}=\begin{bmatrix}\dot{x}\\\dot{y}\\\dot{\theta}\\\dot{\gamma}\\\...
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521 views

Calculate input parameters of CTRV model

I am using Constant Turn Rate and Veloctity (CTRV) model to predict the position of the vehicle.The CTRV model assumes a circular path between two consecutive time steps of the car as depicted in the ...
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563 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 ...
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1answer
397 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 ...
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141 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 ...
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703 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 ...
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2answers
214 views

How would I replicate a tank/zero-turn steering system in a small robotic vehicle?

I'm working on a project that requires me to build a small vehicle (footprint of ~ 14 x 14 inches, less than 6.5 pounds) that can traverse sand. For the steering system, I was thinking of replicating ...
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1answer
850 views

How can I make a quadcopter avoid obstacles using infrared?

I have a quadcopter built, and I need to be able to make it to autonomously follow a route and avoid obstacles where possible. My general plan is to have an array of sensors on a pre-defined "front". ...
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116 views

Angles in a Rocker bogie system

How do you select the following two angles in the design of a Rocker bogie system: Angle between two arms of the main rocker, and; Angle between two arms in the bogie.
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49 views

Heavy omnidirectional platform suspension

I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid ...
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146 views

How to make a robot following a virtual eight figure pattern without using microcontrollers?

The robot should go around 2 boxes and stop at the starting point after tracing a 8 figure pattern. With micro-controllers, i guess it can be easily done using sensors or navigation algorithms. Please ...
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140 views

control a robot with pymorse on MORSE simulator question

I am new to Morse and robotics. This code control the robot by giving the linear and angular velocity. This is the scene description ...
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2answers
97 views

Robot kit suggestions [closed]

I want to develop a toy project that will allow me to move object around the house. Because I am interested in the programming of the robot and not actually build it, I would like to use some sort of ...
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81 views

computer aided RC airplane combat

http://www.youtube.com/watch?v=4Vh_R1NlmX0 is from 2011 SWARM and shows RC aircraft or combat wings trying to hit each other in the air. Scoring a hit is pretty rare, and I'd like to increase a ...
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303 views

Motor Controller with micro USB interface [closed]

I am a Robotics enthusiast and planning to make a small and simple four wheel car whose motors are supposed to be controlled by an Android device housed inside the car by means of the micro USB port ...
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2answers
170 views

Completely autonomous traversal of a planar graph [closed]

I have to program an autonomous robot to traverse through a grid given in the following figure. But the main problem is that the nodes to visit is not known beforehand, it will be received by the bot ...
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2answers
96 views

Directional hearing for Linux robot?

I want to give my Linux robot the ability to locate a sound source and drive towards it. I am reading a paper on sound localization that seems to cover the theory well enough, but I'm at a loss as to ...
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65 views

Is there any robot stability control equation that describes the relation between velocity of the robot and its orientation?

Let’s assume at time t a moving robot (e.g. PIONEER 3-DX) changes it’s steering angle by $25^{\circ}$. Obviously, in order to maintain stability and avoid overturning, the robot must reduce its ...
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3answers
96 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?
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3answers
62 views

What knowledge should I have if I want to establish a robotics company? [closed]

I know, robotics may refer to many things and it's extremely large field today. But if I can narrow the topic to something like Aldebaran(the company makes Nao robots), what knowledge should I have as ...
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2answers
240 views

Will two 8-bit microcontrollers running in parallel perform similarly to a single 16-bit microcontroller?

Let's say I have multiple (8 bit) sensors which are sending signals to two microcontrollers simultaneously. In this case, I am looking to harness the parallel processing capability of the two ...
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2answers
556 views

Programming language? [closed]

In general, what is a good programming language for robotics? I am a starting robo nerd and don't know anyone who would know things like this.
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2answers
385 views

How to find inverse kinematic equations for a quadruped robot to make it walk?

I have made a model of quadruped robot (sprawling/spider type and not dog type) in V-rep and now I want to make it walk by using creep gait. (i.e moving 1 leg at a time) As I understand, I have to ...
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2answers
65 views

Electronic Speed Controller

What should be the specification of ESC that I should use for a 320KV 1820W brushless DC Motor?. Is it necessary to use an 80A ESC?, Basically, How can I choose the required ESC for a motor?
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675 views

Mobile robot navigation without static map

I am working on an autonomous mobile robot based on ROS. All the tutorials and examples requires a static map which need to be generated in order to do the localization and mapping. Do i need to ...
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2answers
403 views

How path following works analytically for way points?

First of all sorry for the confusing question title. I am also confused about the concept. I have implemented a quadcopter and its controller. Controller finds the rotor speeds based on the position ...
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1answer
48 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'?
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3answers
48 views

How to access Raspberry Pi over wifi?

I have to use Raspberry Pi with Arduino on a mobile robot and access Raspberry Pi on a PC through WiFi. Is it possible? Please explain how to do it?

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