Mark 01 - Differential Robot #4 : Odometry and PID Controller

Рет қаралды 35,445

Күн бұрын

How to localize your robot using the wheel encoders and how to implement a PID controller to make your robot move to a goal location.
Mark01 is a differential robot based on a Rasberry Pi.
Command to download the project in the Raspberry Pi:
git clone -b "v4.1" github.com/gusbots/mark01.git
0:00 Intro
0:51 Clone the project, connect PS4 controller, and run mark01.py
1:55 Test Cases (autonomous mode)
4:07 Calibration
5:39 Code Review
Instagram: / gusbots

Пікірлер: 22

@adelemariamullernunes4829 3 жыл бұрын

Congrats Gu!

@MATLAB1Expert1 Жыл бұрын

This is really amaaaazing

@sukrucanozdemir6246 Жыл бұрын

thank you for work and share about your project

3 жыл бұрын

thank you for sharing.

@antoinegaillard3644 2 жыл бұрын

Hello, already thank you very much for your video it deals with the subjects I am facing at the moment. I had a question, what is your useful benchmark for moving the robot in the environment ?

@Jp_Robotics 3 жыл бұрын

Nice 🔥

@MEan0207 3 жыл бұрын

Awesome

@philiptallents9034 3 жыл бұрын

You need more encoder resolution for better accuracy. Try using encoders on the motor shaft before the gearbox instead of on the wheels which is after the gearbox.

@gusbots5677 2 жыл бұрын

I agree with you. I am definitely doing that on my next one (MARK II). :) I am also want to see if I can improve accuracy with some IMU fusion. That will make an interesting video.

@emipop21 2 жыл бұрын

@@gusbots5677 IMU FUSION Will be very interesting. Still on the plan?

@petrescuadrian 2 жыл бұрын

Because you are using two motors it would be better to use the stearing sistem from a tank. One wheel turning CW and the other wheel turning CCW and so the robot turns more accurate.

@SinauTekno 2 жыл бұрын

Very interested, could you explain me with arduino microcontroller?

@gilles4332 Жыл бұрын

hello and thank you for your work/passion and for your sharing, my project is a sky observation turret (rpi3 b+, hat dc & stepper motor, rpi hq cam and wide-angle usb cam, x2 stepper nema 17), fat to you I can finally control my turret with ps4 controller, the site for the hat dc stepper only provides example code and I don't know anything about python. Could you give me a clue to create an autonomous detection mode via the usb camera and recording on the USB key and alert via email. You may not have the time so pi time, otherwise many thanks in advance.

@bhanuprakash6542 Жыл бұрын

I used wheel odometry from this i'm taking position X,Y & Angular Z from IMU.....After 3 to 4 cycles the bot continously drifting some what to the left or right side of the origin. I think its an IMU error rate...... Do you have any suggestions to improve my accuracy

@aladinouannes7747 2 жыл бұрын

good job , how i can use this programe with esp32

@thomasluk4319 9 ай бұрын

how to make the odometry more accurate? if no imu information is given

@edissonfabriciocanarortiz3487 2 жыл бұрын

Great Video, could you explain how to make a 1m square?

@gusbots5677 2 жыл бұрын

Hi Edisson. I think we talked a little at Instagram. To do a 1 m square I changed this file here github.com/gusbots/mark01/blob/master/src/gusbots/stateControl.py line 77. I changed the goal to be a square like this: array_of_goals = [[1,0], [1,1], [0,1], [0,0]]. Every time I pressed X on my PS4 joystick, the code select the next goal.

@edissonfabriciocanarortiz3487 2 жыл бұрын

@@gusbots5677 wow thanks bro sorry for trouble 😄😄😄

@MauricioHernandez-de8is 2 жыл бұрын

Cool prooject, are you still working in the robot?

@gusbots5677 2 жыл бұрын

Good question!!! I changed jobs and I am having some difficulty to find time to work on it. But I have a video about telemetry almost done. I hope I can keep working on it!!!

@MauricioHernandez-de8is 2 жыл бұрын

@@gusbots5677 thanks man, I'm going to build a three-wheeled offroad robot but I plan to add a servo to help the steering in the freewheel, in your experience do you think it would help? What changes do you plan to make to improve trajectory tracking?