# 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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### 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 ...
352 views

### How to Calculate the Translational and Rotational Velocity of a 4 Wheeled Robot?

I have a robot with a 4 wheel drive using mecanum wheels to allow for more mobility. For the engineering documentation I am looking to find both the translational velocity and rotational velocity of ...
811 views

### How to implement a particle filter when sensors can't identify landmarks?

I'm attempting to build a robot that leverages a particle filter to identify where it is relative to a map that is known. The robot only has IR sensors, so while it is able to determine its distance ...
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 ...
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 ...
207 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....
43 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, ...
1k views

### Position Control of an Omni Wheel Drive Robot

I want to create a robot that will navigate on a desired path! That path can be a straight line or a circular path with a given radius. I will use 3 or 4 omni wheel drive platform and for positioning,...
15 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 ...
23 views

### Why isn’t my shaft moving? [duplicate]

When I put my shaft through the vehicle body (small robot) and have the motor attached to it through two rotating gears, the shaft isn’t rotating? I think it’s due to how the hole diameter is the same ...
11 views

### 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 ...
22 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 ...
32 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 ...
25 views

### error with dimensions in Simulink

I am trying to simulate a cartesian regulator for a unicycle with Simulink and I am having some problems. My simulink model is the following: and when I run it I get the following error message: so ...
20 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-...
33 views

### Differential Drive Tricycle WMR with active caster wheel

I'm doing some research for my university project and in particular it concerns a functional design project. I thought it would have been possible to design a 3-wheel mobile robot with an active ...
36 views

### How to avoid hair entanglement in your robot wheels?

This isn't about any complex math or physics of robots, but rather an annoying practical issue I don't find much information about. My robot works indoors (house, office) and there's certainly going ...
14 views

### problem in understanding this part of the RRTx path finding algorithm

this is a paragraph from the paper of the RRTx algorithm and below it a figure referenced in the paragraph however the No and Nr nodes types are unclear to me what are they exactly ?
33 views

### calculate self aligning torque from steering wheel angle

I would like to calculate self aligning torque (SAT) to apply it for a simulating game with Logitech G29 steering wheel, the torque is gonna be inferred from steering wheel angle (plus car motion). I ...
18 views

### 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 ...
95 views

### Guidance on SBC for Visual-Based SLAM [closed]

Intro: I am a student that just started a project regarding prototyping a mobile robot that involve Indoor SLAM implementation. I am very new to the field of computer vision, SLAM and SBC (single ...
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(...
15 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 ...
52 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 ...
179 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 ...
107 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 ...
80 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 ...
38 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?
315 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 ...
280 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 ...
147 views

### Can I use a FTC regulation phone to use the camera on multiple tasks?

PREFACE: THIS QUESTION REGARDS FTC ROBOTICS I am aware that a question similar to this exists on SE and I have looked at it, but the solutions provided did not solve my problem, and the nature of my ...
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 ...
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 ...
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 ...
53 views

### Which Kinect to a movement base? [duplicate]

I am making a mobile base for a robot with wheels. I want to use a Kinect like a movement sensor (to avoid obstacles, recognition of people, etc...) but I read that there is 2 models, the 360 and the ...
801 views

### Matlab for moving a robot towards the detected block

the matlab code is used to detect red colored object, but i want to control a bot to move towards the detected object. just need a simple algorithm or idea, controlling the servo i will be able to do ...
56 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 ...
73 views

### Could anyone complete my challenge? [closed]

Earlier while writing by hand, I was wondering if anyone could build a pen holder, that could write for me? Maybe you could make some good business from them. Thanks for your time.