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I have been working on upgrading an autonomous robot as part of a university project for the past year. As part of my work I have been switching the old skid steering system to a new active steering one, so have some experience with both methods. Steering accuracy Skid steering: Fairly good, need to use a PID loop to keep an accurate heading using a compass....

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What you are describing seems a lot like reinforcement learning, and yes, it works well for this sort of scenario. It is a popular enough approach that you should be able to find starter code in whatever language you prefer. This paper looks like it could be interesting for you. Basic set-up Typically the way the problem is set up is that we want to find a ...

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Automotive style steering can actually be simple. The conventional car has just one motor that powers two rear non-steering wheels through a differential. The differential solves the problem of how to compute a speed for each wheel. The front wheels are not powered so we don't have to compute their speed. Ackerman Steering moves the front wheels so that ...

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Axial (or thrust) force refers to the force applied along the axis of rotation, not the load that is applied to the motor. (This load would be a torque, anyways... not a force). Probably fine for a tractor, not fine for a F1 racecar. This is a question you need to answer based on your application. There might be. You can adapt drills with anti-backdrive pins ...

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My bet is on a PMSM not a stepper, but that cannot be determined from an image. A non-back-driveable mechanism is advantageous, and can reduce the steady state power consumption of a system. It does not necessarily have to be a worm-gear. Regarding shock-absorbers..well a few things have to be considered: Shock absorbers are normally tuned to filter out ...

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I asked this question on OMPL's mailing list. OMPL is an very popular motion planning library. Here is the response: https://sourceforge.net/p/ompl/mailman/message/35918890/ The answer is yes, they should be related.

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Because you don't have any specific robot in mind, let's assume that you have a two-wheeled differential drive robot (TWDDR). TWDDRs can be modeled with unicycle dynamics of the following form: \dot{z}=\left[\begin{matrix}\dot{x}\\ \dot{y} \\ \dot{\theta} \end{matrix}\right] = \left[\begin{matrix}cos(\theta)&0\\sin(\theta)&0\\0&1\end{matrix}\...

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The key device for Ackermann steering is the steering knuckle. It has two vertical mount and an arm with a third mount. The upper and lower control arms attach the vertical mounts to the frame of the vehicle - this lets the wheel move up and down. This may or may not be more complicated than you need, as the control arms are what enable suspension. The ...

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What an interesting project! For braking I was going to suggest a linear actuator, but then I realized you have an ATV already designed for the human hand to actuate the brakes. Why don't you look into low cost electric robotic grippers, and mount one to the handlebar to take advantage of the existing brake lever design? That would be pretty easy to ...

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