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Questions tagged [wheeled-robot]

Wheeled-robot is a subtype of mobile robots which uses motor driven wheel(s) to be able to move.

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Batteries for educational small robots

We would like to teach robotics for small(ish) children (from age 4) in and around our city. For that purpose we chose the Edison, and have already purchased 7 robots (we have already tested them and ...
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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 ...
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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 ...
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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 ...
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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 ...
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27 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?
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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 ...
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How can I use A* path planing and MID for indoor wheeled robot?

Imagine a small indoor robot with no expensive sensors like LiDAR and only equipped with cheap IMU and ultrasonic sensor. The very first task, is to make a map (which I have used floor plan in this ...
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Need some advice on controlling maxon motors for two wheeled robot

I am using two maxon EC 45 flat motors to run a three wheeled robot (the third wheel is passive). I have two motor controllers (Maxon ESCON 50/5) to control each motor as well. There is a software by ...
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1answer
42 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 ...
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1answer
66 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 ...
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Transforming incremental pose from camera frame to wheeled robot base frame

I compute odometry using the stereo camera by minimizing reprojection error. I compute the incremental pose change between frames from time t-1 and t. The odometry is referenced to the left camera ...
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3answers
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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 ...
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how to increase traction for small robotic acrylic wheels?

I am building a small robot weighing 2 pounds for a project. The robot will be working on a variety of surfaces, namely carpet and flat tile floors. I am planning to create 3 inch diameter acrylic ...
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33 views

double check my Battery & DC Motor math, and provide recommendations

I'm building a lawn bot, I think I have the math for my motor draw vs battery correct, but i wanted to run it past some experts. Motor motors and transmitter/reciever Motor Controller https://www....
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1answer
32 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 ...
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1answer
74 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 ...
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49 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. ...
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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 ...
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3answers
395 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 ...
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3answers
238 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 ...
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65 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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93 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 ...
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3answers
319 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 - ...
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1answer
274 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 ...
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39 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 ...
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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 ...
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2answers
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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 ...
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1answer
32 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 ...
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1answer
143 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 ...
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2answers
130 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 ...
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1answer
115 views

TWIP robot - DC gearmotor speed/Encoders

I'm working on a self-balancing TWIP (Two-Wheel Inverted-Pendulum) robot project which will be using two brushed DC gearmotors with encoders. As there were no speed constraints for the robot (and ...
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AmigoBot - Laptop connection via usb port Linux

I want to control the AmigoBot in Linux operating system. I wrote C++ code ARIA and tested it in MobileSim simulator. Now it works fine in simulator, but I cannot manage to connect robot to my laptop ...
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84 views

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT?

Do I need to use separate function in PID algorithm to make the bot go LEFT or RIGHT? ...
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1answer
235 views

Handling PID DC motor control at low speeds

I am building a 4 wheel rover and am using PID DC motor control for the back set of wheels. The feedback for the speed is provided by Hall effect sensors, with two pulses per rotation. This means ...
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2answers
484 views

How to move a robot to a point while avoiding obstacles?

I am trying to move a robot in a straight line from point A, to point B. The robot's primary sensor is a Hokuyo URG-04LX-UG01 LIDAR that gives me the magnitude and direction of each point it detects ...
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2answers
182 views

How to locate an object on a known surface

I am building a small robot on wheels. The robot will be moving at a small speed in a square area of known dimensions. I need to locate the robot and know its position at any given moment so I can ...
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1answer
139 views

Do the distance function and steering function in an RRT have to be related?

I am developing an RRT (rapidly exploring random tree) for car-like robots in SE2 space using Dubins steering function and have a question that has implications on the performance of RRTs. In order ...
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1answer
27 views

What is are digitally-mated pairs

I am considering competing in the robogames, but the rules require that R/C bots have digitally-mated pairs. I am not sure what these pairs are. For reference here are the rules for robot sumo and ...
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Theory behind wheeled inverted pendulum robots [closed]

I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
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2answers
326 views

Two-wheeled self-balancing robot - Choosing the control system

Would an Arduino Uno have the precision-timing required (using only firmware) to control a two-wheeled inverted pendulum robot, or would it need a RTOS? Note: Thanks for both answers, they both ...
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What type of wheel is preferable for a soccerbot?

After a few days,there will held a competition in our varsity.in this competition the task is,my robot will have to play soccer.this is a one to one manual game.I am thinking of building a robot ...
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1answer
311 views

Tuning Line follower PID constants with Q-learning

I am currently working on a line follower buggy and have managed to tune the PID constants​ manually. The buggy follows the line at a moderate speed. I will now like to take things further and learn ...
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2answers
188 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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1answer
549 views

Arduino robot to move spirally

I am planning to build robot like irobot Roomba. So cleaning in a spiral pattern is required like the image shown starting from the center: This code is part of my full code which doesn't give me ...
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1answer
144 views

How to Calculate the Translational and Rotational Velocity of a 4 Wheeled Robot?

I have a robot with a 4 wheel drive using mecanum wheels to allow for more mobility. For the engineering documentation I am looking to find both the translational velocity and rotational velocity of ...
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0answers
176 views

Visual SLAM for wheeled robot

I would appreciate your help for choosing the appropriate real-time SLAM algorithm. I am interested in having autonomous robot, thus a SLAM component is needed for autonomous navigation. The ...
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2answers
109 views

Permanent Magnet DC Motor Calcuations

I have to determine speed and torque suitable for my combat robot. I've done some calculations and I need to know whether they're right or not (because they don't seem to be right). Suppose I have ...
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2answers
258 views

Robot won't work properly, claw will only go one way and will only open or close once per cycle

We're students trying to make a clawbot for a Science Seminar class. However, for some reason, whenever we try to move the arm or the claw in a certain way, it will lock up and only move that ...
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1answer
94 views

Road Detection When the Robot is Off-Road

I'm trying to make a lightweight method of outdoor road following for a small ground robot. In nearly all road detection work that I've seen, they all assume that the robot is already on the road, ...