https://teddyrookbook.com/robotics/mobile-robots/Recent content in Mobile Robots and Navigation on Teddy Rook Bookhttps://teddyrookbook.com/img/share.jpghttps://teddyrookbook.com/img/share.jpgHugoenhttps://teddyrookbook.com/robotics/mobile-robots/differential-drive/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/differential-drive/Two wheels: v = (vR + vL)/2, ω = (vR − vL)/W, and the turning radius is v / ω. Mobile Robots and Navigation · Robotics Ladderhttps://teddyrookbook.com/robotics/mobile-robots/odometry/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/odometry/Update the pose each step: x += d cos θ, y += d sin θ, θ += Δθ. Mobile Robots and Navigation · Robotics Ladderhttps://teddyrookbook.com/robotics/mobile-robots/occupancy-grids/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/occupancy-grids/Cut the floor into cells: cell = floor(position / cell size); each cell is free, occupied or unknown. Mobile Robots and Navigation · Robotics Ladderhttps://teddyrookbook.com/robotics/mobile-robots/grid-search/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/grid-search/Breadth-first search explores in rings and finds the fewest moves; Dijkstra's algorithm does the same with costs. Mobile Robots and Navigation · Robotics Ladderhttps://teddyrookbook.com/robotics/mobile-robots/a-star/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/a-star/A* adds a guess of the distance left, f = g + h, so it looks toward the goal first and still finds the shortest path. Mobile Robots and Navigation · Robotics Ladderhttps://teddyrookbook.com/robotics/mobile-robots/slam-ideas/Mon, 01 Jan 0001 00:00:00 +0000https://teddyrookbook.com/robotics/mobile-robots/slam-ideas/A heading error θ makes the position error grow like d sin θ; seeing known landmarks again pulls the estimate back. Mobile Robots and Navigation · Robotics Ladder