Questions tagged [wheeled-robot]
Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.
166
questions
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0answers
23 views
4 wheeled differential wheeled (skid-steer) robot steering problem
My question is about a square shaped differential wheeled robot, I built, that has a hub-motor (BLDC motor) attached to each corner, i.e., the wheels on the same side, either left or right, have the ...
0
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1answer
21 views
Can knowledge of robot's dynamics help in motion planning?
Some planners assume a kinematic model of the robot for example diff drive or omni directional etc. while generating motion plans for the robot. Can knowledge of the dynamics of the robot help ...
0
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0answers
7 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 ...
0
votes
2answers
25 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 ...
0
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0answers
19 views
How do I know if a wheel and stepper motor fit together?
Looking for some wheels and a stepper motor to make a self balancing robot.
How do i know if the stepper motor shaft can fit in the wheels? I cant find the shaft diameter when looking at some ...
0
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0answers
27 views
A* alogorithm Path Planning in ROS
Can anyone help me out on how to do A* path planning in ROS. I went through a lot of resources, but most of them are using a 2d graph?
I just want to know the process or workflow.
0
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0answers
16 views
AlphaBot2 run / migrate to .NET Core
Bought this robot called AlphaBot2. Has sample code here:
https://www.waveshare.com/wiki/File:AlphaBot_Demo.7z
What I am interested in knowing is how do I convert these Python samples to C# with .NET ...
0
votes
1answer
37 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 ...
0
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1answer
41 views
What robotic skills can I develop when working as a robot operator? [closed]
I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
0
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2answers
28 views
Can Swedish wheels be used in two wheeler configuration?
Can we use any of the Swedish 90°/45° Omni or Mecanum wheels in two wheeler configurations?
0
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2answers
55 views
Multiple robots performing a set of tasks (Optimization)
Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
2
votes
1answer
59 views
Feedback linearization of a nonlinear MIMO system
I have to design a feedback linearization for the model of a car with a single trailer. This picture shows the system:
And this is the kinematic model I got, where ...
0
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0answers
21 views
How to do mechanical calculations for a towing robot?
I am making an automated guided vehicle
AGV will tow standard shopping carts each will weighs 20-30kg
I hope to use 12V DC gear motors 100rpm torque 20kg.cm
(assume the floor is smooth and flat)
I ...
1
vote
0answers
38 views
Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter
I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot.
I found two papers that describe this approach.
CMU. Journal (2006) Vol. 5(1)
IFAC Conference on Embedded Systems
...
0
votes
1answer
59 views
What is the difference between the pose of a robot and the configuration of a robot?
Do "configuration" and "pose" means the same thing? If not what is the difference?
0
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1answer
53 views
How to drive a curve in a maze
im currently programming a robot with 2 wheels and i got the task to let it drive alone for a few minutes in a maze. I just managed to programm a controller that controls the distance to each wall ...
2
votes
2answers
157 views
Controllability of a car with a single trailer
I'm studying the kinematic model of a car with a single trailer. This picture shows the system:
I started from the following statements:
With these constraints, I got the Pfaffian form:
And then ...
-1
votes
1answer
32 views
Why my stepper motor doesn't move when I attach a blade?
I wanted to use the NEMA 17 stepper to drive a blade/flapper that I have custom made for some physical application.As soon as I tighten the screw,the motor stops rotation in the usual way. Don't have ...
2
votes
3answers
112 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 ...
1
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0answers
30 views
TGY-6114MD Servo motor needs push to start
I currently have an inspection robot deployed in a remote part of Africa that has a failing Turnigy TGY-6114MD servo. The issue appeared randomly. The servo won't respond to commands unless given a ...
0
votes
1answer
128 views
Omni vs mecanum wheels for drawing robot
I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves.
The floor will always be flat with almost no obstacles.
The robot will have four ...
0
votes
1answer
76 views
How do I create a broken line follower? [RobotC] [Legomindstorm] [Ev3]
Trying to create an algorithm/code in order to get my robot to follow a track which it currently can do, using a color sensor and following the inside edge. So I'm wondering how to transition to the ...
2
votes
1answer
39 views
How many encoders should I have?
I'm planning a robot vehicle and plan to get one or more motors that have encoders built in.
How many encoders do I need I really need in order to gather solidly accurate information about speed ...
1
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0answers
38 views
hand-eye calibration for wheeled mobile robots
I am new to robotics and working with a wheeled mobile robot with one Kinect mounted on top of it currently.
The robot knows its position in the environment via some means.
I encounter one problem. ...
0
votes
1answer
68 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 ...
1
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0answers
62 views
Detecting and counting the number of junctions
So I am making a robot which is to follow a line. The field has both +(junctions) as well(by the intersection of two lights). I am yet to figure out what exactly is the best way to track the number of ...
2
votes
0answers
33 views
Create path with minimum curvature for Ackerman drive
I'm trying to create a trajectory between two given poses for an Ackerman drive.
The poses are defined as follows:
Current Pose
position $(x_0, y_0)$
rotation on z-axis $\theta_0$
Final Pose
...
4
votes
1answer
66 views
Making a robot go in a straight rate - sampling rate for motor PID
I'm trying to build a robot/rover based on Raspberry Pi 3
At the moment I'm straggling with a basic driving in a straight line.
I'm in a process of tuning my PID code andI'm not sure what sampling ...
2
votes
0answers
77 views
Wheeled Mobile Robot State Estimation Model Using Odometry
I have a process model update that follows the form:
$$
\mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k,
$$
where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
0
votes
1answer
35 views
Rover style robots with less motors than wheels
In all of the designs that I have seen for rockie bogie suspensions, each wheel has a separate motor. Can a rover be driven with less motors? Does each wheel need to spin independently?
1
vote
2answers
51 views
sampling algorithms in motion planning and local minima
I am trying to run RRT algorithm for motion planning for a quadrotor. The quadrotor ends up sometimes in corners without reaching the goal. I realized from sources online, that it is due to local ...
1
vote
1answer
142 views
4 Wheel Differential Drive Robot with different speeds
Differential drive robot with 4 wheels,
If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed )
in general, would that generate more ...
0
votes
1answer
80 views
What propeller to use for in-pipeline robot?
Currently im working on an in-pipeline inspection robot that can navigate through narrow pipeline. My design is to use a propeller at the back to push the robot forward.
The front part of the robot ...
0
votes
3answers
50 views
The reason(s)/benefit(s) to use realtime operating system instead of while-loop on MCU
I'm working on a wheeled-robot platform. My team is implementing some algorithms on MCU to
keep getting sensors reading (sonar array, IR array, motor encoders,
IMU)
receive user command (via a ...
0
votes
1answer
123 views
Calculation of inertia values of Ic and Im
In my dynamic model of two wheeled mobile robot, it has the total equivalent inertia, noted $I$, described by the equation below,
$I_c$ is the moment of inertia of the DDMR about the vertical
axis ...
1
vote
1answer
142 views
Dynamic model of two wheeled mobile robot
I wanted to design a LQR controller for my two wheel mobile robot. What are the equation of two wheeled mobile robot can be rearranged into state space model? My two wheeled mobile robot is nonlinear ...
0
votes
1answer
99 views
State space model
I want to design a LQR controller for my two wheeled mobile robot. While designing the controller, I need to find gain, K for the LQR which this required the state space model of wheeled mobile robot. ...
1
vote
0answers
25 views
How to mount encoder without rear shaft?
I am interested in this robot chasis:
4 wheel robot chasis
There is no information on how to install encoders although the manual says it has space for encoders.
The page says that the motors do ...
0
votes
3answers
870 views
Balancing robot - How to control the velocity and angle
We are currently making a balancing robot as a school project.
The robot has a gyroscope and an encoder to get the angle of the robot and the rpm of the wheels. By using the current angle of the ...
0
votes
3answers
848 views
How to increase the traction of tyres/wheels
I’ve developed a basic robot that navigates around my son’s Duplo train track. It works find on the flat parts, but once it reached an incline at the start of a bridge, the wheels just spin and the ...
1
vote
0answers
151 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 ...
5
votes
1answer
148 views
Robot positioning problem
The problem i am facing is to try and calculate the x and y position of a robot with dead reckoning.
Reading from the encoders and getting proper rotations of the wheels of my robot works. The robot ...
0
votes
3answers
575 views
Line-following robot with a 5th wheel
Both of these 4 wheel drive line following robots have a fifth wheel in the rear.
My first thought is, that it is used as a braking mechanism. Would that be the case? If so, could someone explain - ...
0
votes
1answer
501 views
Wall following robot oscillates heavily
I have a mapping robot , 3 ultra sound sensors HC SR04 , arduino uno board, two motors MG-6-120, power source 2 5v 4000 mAh power banks, driver L298N.
It uses a wall follower algorithm (here is the ...
0
votes
1answer
45 views
How Do You Program the SR04 Ultrasonic Sensor?
Dear Robotics Community,
I am participating in a Robotics tourney that will start in a few weeks. The challenge I signed up for is to deliver and dump ping pong balls to a box. I already have my ...
1
vote
0answers
45 views
What algorithm should I use to make a dynamic Line following robot? [closed]
I want to make a LFR using IR sensor.
Till now I coded my robot according to the track I am going to participate in. So it won't work on any other track.
But now I want to code it in a way that it ...
1
vote
3answers
141 views
First steps in robotics
I am a High School student and a beginner coming to Robotics and I have no idea where to start. I have spent days searching tutorials and books I could read to start building and programming my first ...
3
votes
1answer
34 views
What parameters can be/should be looked on while deciding to work with a microcontroller in a bot
I understand that choosing a microcontroller is all based on the needs and that there is no perfect Mcu.presently I have to select an MCU for a robot my team is building for the 2018 Abu robotics ...
6
votes
2answers
302 views
Holonomics Movement vs Holonomics Constraint
I'm reading Mechanics of Robotic Manipulation by Matthew T Mason and I stumbled upon the concept of kinematic constraints. The book mentioned about two types of constraints: holonomic and nonholonomic ...
1
vote
2answers
250 views
Fire Fighting robot searching for fire in arena algorithm
i am working on a firefighting robot and i am struggling to find a way to search all rooms in an arena like this
i thought of using the Wall follower rule but it will miss a room , if i am ...
