How do robots know where they are? | Essence of Robot Odometry Pt. 3

Рет қаралды 10,869

Күн бұрын

How do robots know where they are and which direction they’re facing? An in-depth explanation of the odometry tracking theory used in VEX and FRC robots.
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Full Essence of Robot Odometry Playlist ⏯: • Essence of Robot Odometry
Check out the previous video here⏯: • Learn the Math behind ...
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Timeline:
(0:00) - Introduction
(1:31) - Designing a coordinate system
(2:18) - Calculating the y-coordinate
(5:30) - Calculating the x-coordinate
(6:58) - Outro
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For those who want to learn more, I highly recommend this document by Team 5225A introducing their position tracking system, which helped play a major role in them becoming the 2018 Vex World Tournament and Skills Champions: thepilons.ca/wp-content/upload...
Team 5225A has also graciously released their winning code as an educational resource here: github.com/nickmertin/5225A-2...
I also highly recommend this other paper by MIT on odometry and motor controls: bit.ly/3duutTw
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#Odometry #Robotics #ControlTheory #VEX #FRC

Пікірлер: 44

@addisonyoung9130 Жыл бұрын

Will there be a part 4 soon? Could use it for spin up.

@cysthia 10 ай бұрын

Your explanation is incredibly nice and simple. Thank you so much for explaining complex ideas and distilling them into easy-to-understand concepts. I'll wait for your next video!

@cosmic4579 2 ай бұрын

When is part 4 coming out, this is really helpful.

@braydensmith6069 Жыл бұрын

Great video can’t wait for part 4

@lucassciarratta5166 Жыл бұрын

Thank you so much! I've been struggling reading the introduction to tracking theory by the pilons and your series has been much easier to learn from. By the way, I know many people are asking, but when could we get a part 4? I'm excited to put it all together and I'd like to use odometry for spin up this season! Keep up the great work!

@cgmuzic4119 2 жыл бұрын

Thank you for the detailed explanation. We're eagerly waiting for the code implementation example of odometry.

@cethinao3334 6 ай бұрын

Thank you so much, im only doing ms vrc and this was one of the only tutorials i could understand

@rohananne8420 2 жыл бұрын

Great video! When are you making a part 4?

@boluwarin 4 ай бұрын

Your videos are awesome

@spiderking1440 2 жыл бұрын

Need a part 4 right now

@spiderking1440 2 жыл бұрын

My robotics teams autonomous would be so much better with odometeyb

@velocityspider635 Жыл бұрын

part 4? great vid

@kaspulanwar7082 Жыл бұрын

nice video.... clear and easy to understand. how about Part 4? I think many viewers waiting for your next tutorial

@Twilight_Tasogare608 8 ай бұрын

Please do the next video!

@alonsoibarrahector8773 2 жыл бұрын

Thank you for the videos, I was waiting for this video, I working in a odometry system, I use 2 pid Controls, one is for the lineal motion and the other one is for the turns, so finally I have a odometry system with the PID to control the velocity of the robot, do you think that is a good idea? Your videos of odometry are very helpful, good job, you help me so much to develop my odometry system

@herrkeldermann1335 2 жыл бұрын

Hi, good Job. Do you know when Part 4 will be online? Greetings from germany.

@jordancan2 2 жыл бұрын

When will part 4 be coming out?

@cucubob9535 Жыл бұрын

man you got everyone waiting for part 4.. seems like something went wrong. could you please update us on ur situation and try for part 4 since it would very useful to have a example and see odometry in use/explained.

@mitchelljust4728 2 жыл бұрын

When are you making the part 4 video?

@satvikkumar3585 2 жыл бұрын

When are you planning on making a part 4

@user-js3kp1xe3g Жыл бұрын

hi, bro! use left tracking wheel and right tracking wheel is order to get the degrees of robot changed??? so , if use gyro, Can I reduce the use of one tracking wheel and only use two tracking wheels???hope for your reply，thanks

@pardisimusdorsi Жыл бұрын

Part 4!!

@ryan4253b 2 жыл бұрын

ah yes the long awaited sequel

@kellyzhang1865 2 жыл бұрын

when calculating the x coor, can you explain why the theta used is the same as the theta used in the y coor calculation? Isn't theta calculated with the right and left tracking wheels? then say the robot were to get pushed purely sideways, in the formula, the x coor would not reflect that change? thanks

@aeku_69420 2 жыл бұрын

If the robot is purely pushed side ways theta doesn't change i.e its 0. In the implemenation you can make a seperate case for when theta is 0. Basically you set the sin(theta/2) to be 1 instead and the rest of formula stays the same.

@GGremlin-fr5fy 2 жыл бұрын

still waiting for a part 4

@aeku_69420 2 жыл бұрын

Hi, thank you so much for going through the effort and time to explain the math so well. I just a one question about how to measure the distance from encoders to tracking center? Is there any very accurate and consistent way to do so? Thanks so much

@itsvoid2917 5 ай бұрын

physically measure the distance using a ruler or calipers...

@kvnptl4400 5 ай бұрын

so, part 4 not coming? 🥺

@ericgolub8589 2 жыл бұрын

Hello, i was wondering what thoughts you have about using an inertial sensor to find absolute position, do you think it would be more or less actuate then tracking wheels, thanks

@itsvoid2917 Жыл бұрын

Less accurate

@alexsalgado Жыл бұрын

Do you plan about visual odom video?

@user-js3kp1xe3g Жыл бұрын

have plan for part 4?

@eggxecution 2 жыл бұрын

Hi can make an arduino code for implementing odometry using only 2WD smart chassis kit. The idea is to make the robot car to go to a specific set (x,y) coordinate using only two speed sensors and using Arsuino IDE. I'll pay you for a fine price cuz really i's so hard and there'a not enough info on yt and internet. It's also our project btw.

@lucaszhang8226 Жыл бұрын

in the end when calculating the y coordinate when substituting shouldn't it be delta r * theta

@rogscar153 2 жыл бұрын

Rex wheres the next video

@mysteriouswall7654 Жыл бұрын

@5:06 I was wondering how does factoring out a 2 place a 2 in the denominator of 1 - cos( Θ)?

@acquidity_4062 28 күн бұрын

Because you're taking a two that isn't there from the inside, it's the same as dividing by two, or multiplying by 1/2. As such, the denominator of 1 - cos(theta) becomes a 2, which leaves you with (1-cos(theta))/2.