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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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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 ...
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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 ...
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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?
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34 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 ...
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62 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 ...
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1answer
29 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 ...
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3answers
108 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 ...
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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 ...
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1answer
22 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 ...
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1answer
37 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 ...
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1answer
32 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 ...
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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. ...
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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 ...
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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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1answer
55 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 ...
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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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33 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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2answers
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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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1answer
109 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
71 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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3answers
40 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 ...
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1answer
68 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
111 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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1answer
57 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
645 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
551 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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119 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
121 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
446 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
411 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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1answer
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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
88 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 ...
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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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2answers
230 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
214 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
126 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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1answer
88 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
268 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
700 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
206 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
216 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
29 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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0answers
54 views

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
390 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
360 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
218 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 ...