# 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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449 views

### Difference between g-value and rhs-value in Lifelong Planning A*

What is the difference between g-value and rhs-value of Lifelong Planning A* algorithm? According to this link, D* Lite, g(s) directly correspond to the g-values of an A* search, i.e. g(s) = g(s') + ...
45 views

### Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics

In the article of Topological Based Representation(Page no. 12), the equation of the Linear Gaussian system dynamics is given as In above equation what is the meaning of 'curly N'?
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### Meaning of 'sign' in Writhe Matrix

Following is the equation of Writhe matrix from the article Topology based Representation(page no. 6). What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some ...
952 views

### 2 wheeled, 2 motor robot control

I decided to work on a 2 wheeled robot position mapping problem. For that I have 2 DC motors with encoders from pololu. I have the following two questions: Do I need to know the model of each motor ...
1k views

### Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update ...
505 views

### Multi-Rate Sensor Fusion using EKF

Context: I have an IMU(a/g/m) + Wheel Odometry measurement data that I'm trying to fuse in order to localize a 2D (ackermann drive) robot. The state vector ...
5k views

### Making a car go straight [duplicate]

I'm trying to work a car that's being controlled by an Arduino. I'm using the following chassis: New 2WD car chassis DC gear motor, wheels easy assembly and expansion and an L298N motor driver. The ...
196 views

### Choosing the state vector for an EKF

Could someone help me understand the logic behind choosing a particular state space vector for an EKF? Context: Say there is a 4 wheeled robot that operates only in 2D. It is equipped with an ...
2k views

### L293D won't turn motor backwards

My small robot has two motors controlled by an L293D and that is controlled via a Raspberry Pi. They will both go forwards but only one will go backwards. I've tried different motors and tried ...
3k views

### How to find kinematics of differential drive caster robot?

I'm working on a little project where I have to do some simulations on a small robot. I my case I'm using a differential-drive robot as one of the wheels of a bigger robot platform (which has two ...
839 views

### Arduino project: Turning with a fixed front wheel axis

I am working on an Arduino robot project. This project requires a base with 4 wheels where the back wheels are attached to two DC motors that can be controlled independently of each other. I am ...
168 views

### Dynamic model of a tank like robot

I am planning a tank like robot for hobby purpose. I have control engineering background, however I never applied on robotics. I would like to test different control theory, namely MPC. I saw a lot ...
44 views

### Is there a way to use a stress-ball-like device as acceleration control interface

I am thinking of a project proposal for my robotics course and we are required to make one that has a potential application on physical therapy or medical fields. One thing that came across my mind is ...
1k views

### How can I measure the actual speed and distance traveled of the robot with an external setup? [closed]

Good day to all. First of all, I'd like to clarify that the intention of this question is not to solve the localization problem that is so popular in robotics. However, the purpose is to gather ...
406 views

### Calculate robot heading to follow wall and avoid obstacles

I have a task that involves implementing robot behaviour that will follow wall and avoid obstacles along it's path. The robot must stay at desired distance from the wall but also stick to it so it ...
511 views

### What is the easiest and efficient way to detect human in close range distance and make the robot follow it? [closed]

I am having a thesis right now regarding a robot. My research requires the robot to be attached to linear guide rail. A robot has to detect human in a very close range (of about 2 meters distance). ...
1k views

### Advanced Line Following Robot of Maze Solving

I know how to make a line follower. But in this video what have they done exactly? They are giving the source and destination in the map but how the robot moves based on the instruction given in map? ...
429 views

### Accurate Wheeled Robot Odometry

I'm looking for a "good" algorithm/model for wheeled odometry estimation. We have encoders on the two back wheels of the tricycle robot, and IMU on the controller board. Currently we use MEMS gyro for ...
158 views

### How would I replicate a tank/zero-turn steering system in a small robotic vehicle?

I'm working on a project that requires me to build a small vehicle (footprint of ~ 14 x 14 inches, less than 6.5 pounds) that can traverse sand. For the steering system, I was thinking of replicating ...
1k views

### Balancing Robot Control Model

I am trying to find a control model for the system of a balancing robot. The purpose of this project is control $\theta_2$ by the 2 motors in the wheels i.e. through the torque $τ$ I started with the ...
2k views

### Particle filter weight function

I am trying to implement a particle filter in MATLAB to filter a robot's movement in 2D but I'm stuck at the weight function. My robot is detected by a camera via two points, so a single measure is a ...
3k views

### Robot docking for self-recharging

I want to build a simple obstacle avoider robot, but this time I want it to be self-recharging so I am building a dock for this purpose, so I want it to be able to locate the dock and go for it when ...
194 views

### Lifting Robot To Lift Small Crates [closed]

I am trying to design a robot to lift tote-crates and transport them around in a localized area. I want to be able to carry 3 tote-creates at a time. This robot needs to be able to pickup the creates....
894 views

### Torque of coreless DC micro motor

I would like to build a small two-wheeled robot similar to the one shown here. In order to keep the robot small, I intend to use two coreless micro motors like the one shown bellow. The power source ...
3k views

### Cascading PID DC Motor Position & Velocity Controllers

I'm trying to build a robot with a differential drive powered by two DC Motors. First I implemented a PID Controller to control the velocity of each motor independently. Estimated the TF using the ...
177 views

### Sensors' field of view in car driving

I want to develop an autonomous driving RC car. For detecting obstacles, I plan to mount 3-5 ultrasonic sensors in the front and in the back the car. What is the minimum necessary combined field of ...
125 views

### Automatic agricultural robot using 8051 [closed]

I want to build a automatic agricultural robot for my final year diploma project. The basic idea is to program 8051 to drive the robot in a fixed path in farm for ploughing the farm which i am ...
99 views

### What are the different ways to control distance to be covered by a robot?

I want to move a robot to a certain distance say 1 meter. What are the different ways that i can implement to do so? For example I can measure the circumference of the wheel and assign time of ...
187 views

### Reverse lift mechanism

I have made a RC robot from a wheelchair and I'm planning to attach a snow plow. I'm wondering if there is any mechanism that would be able to lift the plow when reversing. I have only 2 channel ...
336 views

### Cheapest 3D printer for gears?

It would be incredibly useful if I could print my own gearing solutions, even if I have to print the gears one at a time. However, I do not know how the market's cheapest printers will accommodate ...
115 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.
48 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 ...
1k views

### FRC RoboRio Eclipse can't find edu.wpi.first.wpilibj

The first time after importing a project into the Eclipse workspace we find that eclipse cannot find the WPILIBj. On any import line:import edu.wpi.first.wpilibj.* ...
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### Cheap wheeled robot without tether (does not need to be programable)

I am looking for cheap wheeled robot that can be controlled remotely. I do not really care about how (RF, Bluetooth, WiFi, IR, other?), as long as I can control around 10 robots without interference ...
1k views

### Can I make an automatically-parking robot car with IR sensor?

It would be easy to understand if you imagine a robotic vacuum cleaner. (For some models) It goes back to a specific place automatically to recharge. Like this, I want to make a robot which ...
861 views

### Looking for a cheap(ish) micromouse that I can program with C/C++ [closed]

I'm looking to buy a micromouse (i.e. a small single-board unit with wheels and IR sensors that can move around freely). I've done a lot of searching but have only found resources relating to building ...
946 views

### translation the shaft encoder data

I am designing a robot in real world and i want to plot everything in X,Y (Cartesian) coordinates I just want to use the encoders of wheels to determine the current position of mobile robot and its ...
38 views

### Error as a State space

I am reading the following research paper regarding Trajectory tracking of mobile robots. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188 There are two things at the start of the ...
394 views

### following a trajectory with LQR controller

We want our wheeled robot to follow a (rather short) trajectory. We wrote an LQR controller, which works well in simulation. However, our robot offers two problems: 1.) The reported state information ...
129 views

### How do I determine the heading of a six wheeled robot?

I have a robot simulation that simulates Mars Exploration Rover with six steerable wheels. In case of the following steering configuration ...
281 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 ...
365 views

### Choosing motor and battery for a robot

I have a project which requires a robot to move around a room with a flat surface (concrete floor). The robot must carry a laptop. I estimated that the total weight would be 6-7kg (including motors, ...
83 views

### How to find the height of a rock with a rover?

So, I am designing a rover that will navigate to a rock, and then calculate the height of the rock. Currently, my team's design involves using an ultrasonic rangefinder and lots of math. I was ...
36 views

### Wheeled Robot Motion Primitives: Is throttling forward and crab motion considered as one?

I am simulating a wheeled robot of six-wheels and can be independently steered, like MER-Opportunity. The wheeled robot can perform throttling forward, ...
4k views

### 12V compressor and air pressure control

I am trying to make a simple robot with few functionality for someone, one of these functionality is inflating a balloon inside the robot, I know how to control a compressor using Arduino but the ...
631 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 ...
930 views

### What is the technical name when robot wheels are aligned to perform spot turn?

I have a robotic simulator that enables a 6 wheel rover to perform spot turn. To prepare the rover to spot turn, I have to arrange/align the wheels in such a fashion: ...
2k views

### Connecting a Raspberry Pi to a roomba via an FTDI cable

I have a Raspberry Pi with this FTDI cable and a Roomba 560. The Roomba has an SCI port to allow for control of the roomba via serial. I installed the PySerial library on the pi and send valid ...