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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3k views

Implementing pure pursuit problem in robot navigation? [closed]

I would like to implement pure pursuit waypoints navigation. we know that, look ahead distance=look ahead gain*vehicle forward velocity How can I calculate look ahead velocity gain/look ahead gain? ...
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1answer
59 views

Is it possible to detect road surface or navigation area using LRF data or other laser data in a Park?

I would like to detect road surface in a park. In the park, only small grass are covered with the both side of the road. That means there is road and the both side of the road are covered by small ...
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2answers
206 views

Choosing motor to buy after calculations

I am building a two wheeled robot which will have: max speed of 10km/h and acceleration of 0.5m/s² can climb 12° slopes weighs at most 30 kg wheel diameter is 50cm By doing the calculations myself, ...
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1answer
115 views

How has the Mars Exploration Rover (MER) has been working for 11 years if it was designed for 90 Sol? [closed]

The Mars Exploration Rover (MER) Opportunity landed on Mars on January 25, 2004. The rover was originally designed for a 90 Sol mission (a Sol, one Martian day, is slightly longer than an Earth day at ...
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1answer
52 views

Base for home robot of a bigger size [closed]

I am trying to build a robot. But a bigger robot than a Raspberry Pi connected to some tiny something as big as a can of black Coke. I am planning to build a robot of a size 1.2-1.5m. I already have ...
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1answer
236 views

Robot positioning using IMU quaternion data?

I want to use a MPU9150 to give me the position (XY) and heading (angle) of a wheeled robot. This MPU9150 from invensense has a Digital Motion Processor in it which can give me a quaternion. But how ...
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1answer
97 views

Find object using only distance

I'm working on a extremely simple robot (very first project) that attempts to find the source of a Bluetooth signal. There are two motors that drive the platform and each has an encoder. We've already ...
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3answers
5k views

How to go around in a circle?

I have the mBot robot and I'm trying to get it to go to the other side of a cylindral obstacle. Something like this: What I know: Radius of the cylinder - r Robot's distance from the cylinder ...
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1answer
413 views

Control of WMR (Wheeled Mobile Robot) in 3D

I've implemented SMC (Sliding Mode Controller) on WMR in both X-Y and X-Z plane. Now i want to combine both of these to control WMR in 3D. For this purpose I'm trying to use resultant vector of ...
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1answer
9k views

How to find Friction or Viscous force b (nmsec) in DC motor

PLease guide me How to find Friction or Viscous force b (nmsec) in DC motor for a particlar speed. The motor is connected with a gear and the ration is 26:1 I want to find for 200 rpm and the motor ...
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2answers
40k views

How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Question: A PID controller has three parameters Kp, Ki and Kd which could affect the output performance. A differential driving robot is controlled by a PID controller. The heading information is ...
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1answer
50 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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1answer
56 views

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 ...
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2answers
655 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') + ...
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1answer
43 views

Thermal Imaging camera activation upon detection

So I am planning on building a robot that turns on when it detects some kind of heat source, I am currently looking at thermal imaging cameras, but am not sure as to how to go about writing code to ...
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3answers
2k 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 ...
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2answers
578 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 ...
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1answer
6k 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 ...
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1answer
260 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 ...
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2answers
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 ...
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1answer
276 views

How can I switch between Autonomous mode and usercontrol?

I want to switch from usercontrol to autonomous. When I have the program running for 120 seconds, how come it wont automatically switch in autonomous mode? Thanks! ...
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6answers
6k views

Robot never goes straight

I am using 2 identical DC motors and a castor wheel. The motors are connected to L293D motor driver and are controlled by RPi. The robot is not going straight. It veers off to the right. I am ...
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3answers
4k 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 ...
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2answers
994 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 ...
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2answers
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 ...
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1answer
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 ...
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1answer
489 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 ...
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1answer
557 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). ...
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2answers
2k 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? ...
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1answer
482 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 ...
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2answers
257 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 ...
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1answer
2k 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 ...
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1answer
7k 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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1answer
182 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 ...
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1answer
1k 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 ...
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1answer
113 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 ...
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1answer
207 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 ...
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0answers
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.
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0answers
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 ...
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1answer
142 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 ...
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0answers
36 views

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 ...
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1answer
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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2answers
976 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 ...
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1answer
481 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
1k 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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3answers
3k 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 ...
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1answer
208 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....
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1answer
41 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 ...
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2answers
910 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 ...
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2answers
550 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 ...