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

Подписаться 1 тыс.

Просмотров 11 тыс.

50% 1

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.
Please considers subscribing 🦾 ru-vid.com?sub_c...
Full Essence of Robot Odometry Playlist ⏯: • Essence of Robot Odometry
Check out the previous video here⏯: • Learn the Math behind ...
---
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
---
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
Subscribe to my channel 🦾ru-vid.com?sub...
Music 🎵: New Shoes; Apple Pies & Butterflies; Introvert - Blue Wednesday
Stream music on Soundcloud 💿:
/ bluewednesday
All Clips & Animations CTTO
#Odometry #Robotics #ControlTheory #VEX #FRC

Наука

Опубликовано:

4 авг 2024

Ссылка:

Скачать:

Готовим ссылку...

Добавить в:

Мой плейлист

Посмотреть позже

Комментарии : 44

@addisonyoung9130 Год назад

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

@cysthia 11 месяцев назад

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!

@braydensmith6069 Год назад

Great video can’t wait for part 4

@cgmuzic4119 2 года назад

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

@lucassciarratta5166 Год назад

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!

@rohananne8420 2 года назад

Great video! When are you making a part 4?

@cethinao3334 6 месяцев назад

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

@spiderking1440 2 года назад

Need a part 4 right now

@spiderking1440 2 года назад

My robotics teams autonomous would be so much better with odometeyb

@boluwarin 4 месяца назад

Your videos are awesome

@velocityspider635 2 года назад

part 4? great vid

@cucubob9535 Год назад

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.

@alonsoibarrahector8773 2 года назад

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

@kaspulanwar7082 Год назад

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

@herrkeldermann1335 2 года назад

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

@jordancan2 2 года назад

When will part 4 be coming out?

@cosmic4579 3 месяца назад

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

@kellyzhang1865 2 года назад

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 года назад

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.

@mitchelljust4728 2 года назад

When are you making the part 4 video?

@user-js3kp1xe3g Год назад

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

@ericgolub8589 2 года назад

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 Год назад

Less accurate

@satvikkumar3585 2 года назад

When are you planning on making a part 4

@aeku_69420 2 года назад

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 6 месяцев назад

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

@Twilight_Tasogare608 9 месяцев назад

Please do the next video!

@pardisimusdorsi Год назад

Part 4!!

@GGremlin-fr5fy 2 года назад

still waiting for a part 4

@ryan4253b 2 года назад

ah yes the long awaited sequel

@user-js3kp1xe3g Год назад

have plan for part 4?

@alexsalgado Год назад

Do you plan about visual odom video?

@kvnptl4400 5 месяцев назад

so, part 4 not coming? 🥺

@mysteriouswall7654 Год назад

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

@acquidity_4062 Месяц назад

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.

@eggxecution 2 года назад

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.