Robotics Stack Exchange
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1500 questions
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2 answers

How does a self-driving car locate itself when the environment changes?

There's something I don't quite understand about SLAM. When a self-driving car wants to locate itself using a prior map, how does it do that when the environment keeps changing, e.g., new cars parked on the curb, etc.? Even if it uses a 3D map, the…
John M.
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How to determine the parameter of a Complementary Filter?

I know that the Complementary Filter has the functions of both LPF and HPF. But I think my understanding on the principal behind it is still unclear. I am quite new on digital signal processing, and maybe some very fundamental explanations will help…
Sibbs Gambling
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what is the algorithm to get position (Linear displacement and linear velocity ) using IMU (Like MPU6050)?

So I have been working on a drone project for a very long time, now I decided to work on Kalman filter which is used widely nowadays like Ardupilot. I looked at the source code so basically understand that using double integration we can get linear…
Robokishan
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Track a moving object

If this has already been answered, by all means please point me to it. I am in the process of building a quadcopter which I eventually plan to run autonomously by allowing it to track an object and take a video feed of it moving. GPS is one of the…
Marko
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Reducing motor speed without jamming up

So I built three little bots so far. One with a raspberry-pi, (6V motors), one with an arduino (12V motors), and another with an arduino but a hacked remote car (7ish, volt motors): The problem I have with all these is that the motors spin so…
gideon
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Detect Nao robot in Kinect

I am not sure if this has been tried before but I am trying to use Kinect and detect gestures made by the Nao robot. I have made a Kinect application, a gesture based picture viewer and it detects humans fine(Obviously it does!) What I wanted to try…
Karan Thakkar
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Holonomics Movement vs Holonomics Constraint

I'm reading Mechanics of Robotic Manipulation by Matthew T Mason and I stumbled upon the concept of kinematic constraints. The book mentioned about two types of constraints: holonomic and nonholonomic constraints Following is one example of a…
nasw_264
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Kalman filter GPS + IMU fusion get accurate velocity with low cost sensors

I'm new to all this robotics stuff. Especially to Kalman filter. My initial goal is to have velocity as accurate as possible Here is my case: I have a phone which is mounted, for example in the car. So it has low cost GPS and IMU sensors. 2D GPS…
InsFi
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Instantaneous Center of Rotation for a differential Drive Robot

I want to find the instantaneous center of rotation of a differential drive robot. Assuming I know that the robot will travel with a particular linear and angular velocity $(v,w)$ I can use the equations (given at A Path Following a Circular Arc To…
canatan
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Can I use Ziegler-Nichols's rules to find PID parameters for a non linear system

I'm trying to use a PID to stabilize a system described from the following difference equation: $$y_{k+1} = a y_k \sqrt{(1-y_k)}~~~ + b y_{k-1} ~+ c u_k$$ Can I use Ziegler-Nichols's rules to find PID parameters in this situation? To be more…
Edge7
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Upgrading the motors on a SeaPerch ROV - more torque, or more RPMs?

I am looking to upgrade the motors for SeaPerch underwater ROVs so we can carry heavier payloads and more equipment. My question is, should I look for motors which have a higher RPM and lower torque, or with lower RPM but higher torque to gain a…
Nate Koppenhaver
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Fastest maze algorithm for robot

I'm planning on programming a prebuilt robot to solve a maze as fast as possible. The robot has forward obstacle sensors (no side sensors) and 3-axis accelerometer. I'm planning on using the wall following algorithm. Is this the fastest possible…
user1159
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object level sensor fusion for multiobject tracking

I want to fuse objects coming from several sensors, with different (sometimes overlapping!) fields of view. Having object lists, how can I determine whether some objects observed by different sensors are in fact the same object? Only then I can…
josh131
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information filter instead of kalman filter approach

I read many sources about kalman filter, yet no about the other approach to filtering, where canonical parametrization instead of moments parametrization is used. What is the difference? Other questions: Using IF I can forget KF,but have to…
josh131
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Paradox: I can't use accelerometer measurements to obtain information about my states in a quadcopter?

I'm currently developing an EKF to estimate the position and orientation of a quadcopter. My state vector is comprised of 3D position, 3D velocity, 3 euler angles and the angular velocity vector. Right now I'm looking into the measurement equation…
JLagana
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