# 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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### Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)

I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174) In this context I have ...
69 views

### Robot - Wall Avoiding (Plinko Robot)

I am looking to build a robot that will travel and zig-zag down the hallway.It will be headed towards a wall at roughly 45 degrees and then use a IR LED to detect when a wall is nearby. From there, ...
42 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 ...
108 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 ...
254 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 ...
36 views

### How to implement PID position control for 4wheel mecanum robot?

I want to implement PID control on my 4 wheel mecanun robot. I want to give a position instruction to my robot and that it follow the following curves of velocity and position. The only feedback that ...
62 views

### Rotate while strafing with mecanum wheels

I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 ...
90 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 ...
86 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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### 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 ...
40 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. ...
193 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 ...
41 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 ...
226 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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### 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 ...
117 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.
50 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 ...
290 views

### Chassis materials for Hobby-weight (5.44Kg) battle robot

I have sorted out all the internals for my robot (drive systems and weaponry) and now I need to put it all together in a chassis which will be about 40 cm wide by 35 cm long by 7 cm high. I have ...
755 views

### Acceleration formula for a differential steering robot

I have the formulas to derive the RPM's of each wheel from the robot's linear velocity. Now, I am trying to do the same thing for the acceleration (mainly angular acceleration). For linear ...
17 views

### How to create pseudo code for Braitenberg vehicle 2b?

I am asked to make Braitenberg vehicle for small robotic exhibition. I am asked to use GL5528 light sensor. My job is to construct and program Braitenberg vehicle 2b, which uses GL5528 light sensors ...
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### I’m not sure how to calculate the torque of a tank chassis what values do I need?

So I plan to build a robot-tank thing. It’s max weight will be 35kg and it’s driving wheel will have a radius of 0.05m. Those are the two values I know for certain and there will be no gears between ...
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### What is the mathematical relation between phi1, phi2, phi3 and motor PWM values for 3 wheel omni drive robot?

My question is that I cannot deduce the relation between phi1, phi2, phi3 values of the omni robot (3 wheeled) and the motor's PWM values, since I'm planning on designing the robot to perform "go ...
26 views

### Sprockets for steering

I'm planning to drive the steering of a AWD rover using stepper motors. Is it usually a good idea to use sprockets and chains for that? Would the precision typically be too low for steering? The ...
34 views

### How to evaluate the location accuracy of a visual slam algorithm in an indoor enviorment without motion capture system?

I have a ground mobile robot with wheel for indoor applications and I want to develop a vSLAM algorithm for it. So one problem for me is how to know my modifications do really improve the performance ...
47 views

### Help finding a replacement for a broken gear

My robot lawn mower (a Robomow rx20u) was moving erratically, so I took apart the wheel assembly and found that one of the reduction gears has several broken teeth (in the picture, look at the right-...
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### Maximizing the Coefficient of Friction Between Two Surfaces

I am new to this site so please let me know if I can improve my question. A component of a robot I am designing includes a four-wheeled carriage that travels linearly on an aluminum surface. The ...
11 views

### Avoiding obstacle of a car robot using IR

I am using an IR sensor which detects the obstacle. My question is how does 2 robots stops on a finish line which is an object higher that the height of the car robot if i am using IR, comparator(...
16 views

### Gyroscope signal when mounted on a deflated tire

Before I do the experiment, I am a bit confused about the expected signals provided by a 3-axis gyroscope (angular velocities vs. time) mounted on the edge of a (slightly) deflated car tire when the ...
56 views

### How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?

I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
1k 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 (one on the left and ...
23 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 ...
243 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 ...