# Tag Info

## Hot answers tagged wheeled-robot

Accepted

### Robot never goes straight

I'm posting this as an answer because it is the answer. You can't. As @BendingUnit22 mentions, you are attempting "open loop" control. Noise and variations will mean that your robot will never ...
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### How do the PID parameters (Kp, Ki, and Kd) affect the heading of a differential driving robot when they are increased individually?

Proportional term: this controls how quickly to turn the steering when the heading is not at the set value. A low P will lead to sluggish steering, reacting only slowly to set heading changes. It may ...
• 1,021
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### How to program a three wheel Omni?

The math involved for controlling a holonomic robot is really not too bad. It is basically just high-school trigonometry and knowing how to set up the problem. First, lets start with the joystick. ...
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• 14.7k

### Choosing the state vector for an EKF

In general, I try to obey the following two rules when selecting states: Only use the states necessary for control, and Choose states to be measurable properties, whenever possible. For example, on ...
• 14.7k
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### Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics

They are modeling the probability as a normal distribution with the given mean and variance.
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### Particle filter weight function

A little background. You need to weight each particle by the liklihood of the particle being correct. The probability the particle is correct is given by the probability that it is correct given the ...
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### How do I determine the heading of a six wheeled robot?

Where your robot will go will depend on where the axes of the wheels intersect. If all the axes are identical, it can turn around any point on the axes, or go straight, perpendicular to the axes. If ...
• 729
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### Cascading PID DC Motor Position & Velocity Controllers

I have done this myself, controlling the exact position of a brushless DC motor as its velocity ramps up and down. And I did it using a position controller only. Sounds obvious, but it worked ...
• 6,337
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### Reverse lift mechanism

I assume that your 2 channels control forward/backward and left/right. But even if the 2 channels control forward/backward in each wheel (differential-drive style), it should still be possible to do ...
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### What is the technical name when robot wheels are aligned to perform spot turn?

Differential drive Left and right wheels drive clockwise and anticlockwise, at same speed, for robot to rotate with reference to central point between wheels You may want to let front and back pairs ...
• 419

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

Following a human can be relatively easy, but it depends on your requirements and your sensors on how easy this is. If you use ROS there are some available packages: people_tracker which uses a ...
• 260

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

Barometers are cheap, easy to use, and very sensitive. They can be placed inside a sealed rubber ball and detect changes in pressure. See for example these sensors: www.takktile.com. (The makers of ...
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### How to find kinematics of differential drive caster robot?

Kinematics of mobile robots For the figure on the left: I = Inertial frame; R = Robot frame; S = Steering frame; W = Wheel frame; $\beta$ = Steering angle; For the figure on the right: L = ...

### Multi-Rate Sensor Fusion using EKF

Part 1. Use one or the other. Often odometery is used instead of kinematics or dynamics for prediction, at least in my work. Part 2. This is handled by the construction of the measurement equation ...
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### Plotting location using wheel encoder data

A few things: I took a look at your data set. Did you make sure you used the time column correctly? The first entry is "1429481388546050050" without the decimal. To make it in seconds, it should be ...
• 950

### Self balancing robot control system strategies

I can recommend an alternative which has worked for me quite well. I derived the dynamical model of a inverted pendulum, then linearised it around the stable operating point. With this simplified ...
• 71
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### TWIP robot - DC gearmotor speed/Encoders

:EDIT: Let me put some numbers on this. Let's say you want to get from any angle to vertical in half a second. Say for now (more on this unrealistic scenario later) that you want to get from "...
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