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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26 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 ...
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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 ...
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22 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 ...
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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 ...
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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 ...
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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 ...
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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.
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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 ...
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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 ...
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161 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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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 ...
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87 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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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 ...
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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?
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1answer
60 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 ...
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142 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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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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67 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?
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39 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 ...
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304 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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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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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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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 ...
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1answer
134 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
365 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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2answers
3k views

Kinematics of a 4 wheeled differential drive robots

I have a 4 wheeled differential drive robot, like the Pioneer 3-AT. There are only two motors, one for left wheels and one for right wheels. I want to send velocity commands to the robot, I'm using ...
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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 ...
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153 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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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. ...
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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 ...
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1answer
387 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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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 ...
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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 ...
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64 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 ...
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811 views

Is there a name for the steering style/wheel actuation used on Curiosity?

I read up on the wheels of Curiosity, and also about the suspension. But is there a name for the steering? It looks similar in nature to the front landing gear on an airplane, but searching those ...
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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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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 ...
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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?
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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 ...
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1answer
5k views

How to program a three wheel Omni?

I have created a three wheeled omni robot like the diagram below. Now I am unsure of how to program it. I want to use a single joystick so one x and one y value. The values for x and y are between -1 ...
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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 ...
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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 ...
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1answer
127 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
143 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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102 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
876 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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2answers
232 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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3answers
868 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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581 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 - ...