6 Wheels Odometry

6 Wheels Odometry

asked 2020-11-06 03:03:22 -0600

fgastald
1 ●2 ●2 ●3

Hello, i have an Arduino Mega that control 6 motors and a 6 Channel Robogaia encoder counter + a Zed mini for the IMU. Drivers are LM298N I am searching for a valid approach or any tips that can help me in using odometry. Any help on this will be much appreciate Fabio

answered 2020-11-06 12:49:28 -0600

duck-development

1999 ●4 ●160 ●25

how are you wheels mounted, are those mecanum or normal. do you drive offroad or indoor/

for communaction you can send the tioics to ros and do there the odometry. or you could compute the odometry inside the arduino and publisch those to ros. i would recommment to use the imu in a spectial topic, so you can use thos in combination with ukf or ekf localisation.

you may read this paper https://www.sciencedirect.com/science... may it help.

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wheels are connected to the chassis with a 3d printed support. Wheels are not steering at all I'm using it indoor right now About IMU the ZED-Mini is connected to the JETSON TX1 so the topic about IMU is already there. Thank you for the kindly help

Fabio

fgastald ( 2020-11-09 05:06:30 -0600 )edit

Here is a picture od the Rover just to have an idea https://www.dropbox.com/s/t6eq89unhd3...

fgastald ( 2020-11-09 05:13:23 -0600 )edit

For the start you can use tank track kinematic. Leftside and right-side. Because witch all the friction you would not better to control.

duck-development ( 2020-11-09 06:40:20 -0600 )edit

I will try that. Thank you.

fgastald ( 2020-11-20 03:32:57 -0600 )edit

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