Mobile Robot

Sep 20, 20201 min read

Single Steering Vs Dual Steering at 45 degrees turn

This video shows turning at 45 degrees with single steering only. This video shows turning at 45 degrees with Dual steering.

Sep 9, 20201 min read

Dual Steering

Steering to the desired angle with a smooth adjustment is essential for any mobile robot. As per seen in Figure, For single steering...

Sep 8, 20201 min read

LIDAR obstacle avoidance

LIDAR provides data about surrounding objects within its range. In obstacle avoidance node, subscription to topic scan with message type...

Sep 5, 20201 min read

Role of Gyroscope for Complementary Filter

The rotation angle could be derived from the rotation velocity as per formula as, Angular rotation = Angular Velocity * Time This angular...

Sep 5, 20201 min read

Compensated Yaw angle

Heading calculation requires magnetometer parallel to the surface (0-degree pitch and 0-degree roll). These pitch and roll values are...

Sep 3, 20201 min read

Pitch And Roll

Pitch angle is an angular rotation around the front to back axis (x-axis). Roll angle is an angular rotation around the side to side axis...

Sep 1, 20201 min read

Effect of Calibration on Magnetometer Compass Heading

As shown in figure, the difference can be realised for compass heading calculations. Ideally, Compass heading should be in the range of...

Aug 31, 20201 min read

Ferromagnetic interference in stable magnetic fields

Interference from much closer ferromagnetic parts is much stronger than the hard-iron and soft-iron. This effect can be realised in...

Aug 23, 20201 min read

Brushed DC motor Control

value of esc: 75 to 56 for backwards 93 to 126 for forward ESC.write(esc);

Aug 21, 20201 min read

Basic Sensor data filtering

created low pass filter for minimizing the vibrations felt by the body. data= (0.9)*past data+ (0.1)*current data

Aug 21, 20201 min read

3D motion

refer to https://eater.net/quaternions for more explanation of quaternions. Will be useful for deriving pitch, roll yaw.

Aug 19, 20201 min read

Body Construction

Plastic Container is embedded to the RC car body.

Aug 16, 20201 min read

Hardware modification

Simple Steering: Modified All-steering wheels: Simple Test:

Aug 11, 20201 min read

Arduino Code

Code below is uploaded in the Arduino. Which subscribes to topics that controls the DC motor and steering servo motors. #include...

Aug 9, 20201 min read

rosserial_arduino

rosserial_arduino is used to control the RC car DC motor and steering servo motors. Had to post the issue in answers.ros.org...

Aug 6, 20201 min read

Creating ROS package for GPS sensor data broadcasting

sensor_msgs dependency is used to broadcast the sensor data in ROS. Where sensor_msgs/NavSatFix.msg (http://docs.ros.org/api/sensor_msgs/...

Aug 2, 20201 min read

Creating ROS package for Magnetometer sensor data broadcasting

To broadcast the sensor data in ROS package is created using sensor_msgs dependency. Where sensor_msgs/MagneticField.msg...

Jul 29, 20201 min read

Creating ROS package for IMU sensor data broadcasting

sensor_msgs dependency is used to broadcast the sensor data in ROS. Where sensor_msgs/Imu.msg (http://docs.ros.org/api/sensor_msgs/html/m...

Jul 27, 20201 min read

GPS sensor

install the package for the GPS sensor by: sudo pip3 install adafruit-circuitpython-gps Follow the instruction from...

Jul 27, 20201 min read

Lidar Sensor

Follow the steps from https://github.com/YDLIDAR/ydlidar_ros. 1) Clone this project to your catkin's workspace src folder (1). git clone...