Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

NavStack with Skid Steering robots

asked 2014-08-12 18:08:12 -0600

Pototo
803 ●51 ●59 ●67

I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in terms of localization and things like that?

If I let two wheels on the same side of my robot (two on left side and two on the right side) maintain same velocity and acceleration, would the unicycle model of a differential drive robot still apply for skid steering?

edit retag flag offensive close merge delete

Comments

Are you using the nav stack with your current, diff-drive robot?

ahendrix ( 2014-08-12 20:16:20 -0600 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-08-12 21:31:01 -0600

paulbovbel

4518 ●12 ●49 ●80 http://www.bovbel.com/

updated 2014-08-12 21:35:46 -0600

With two wheels on each side, your robot's center of rotation will be unstable due to slippage, and even minor variations in your terrain will cause dramatic shifts. This means your odometry will drift much further than under differential drive, making your other information sources even more important for localization - an IMU will go a long way towards mitigating the slippage.

You will have to adjust (increase) the (co)variance values in the odometry messages, as well as the proper parameters for nodes like AMCL that only read tf data.

edit flag offensive delete link

Comments

As far as the unicycle model, with slippage you can just imagine that it's simultaneously a pogo stick :)

paulbovbel ( 2014-08-12 21:33:40 -0600 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2014-08-12 18:08:12 -0600

Seen: 1,162 times

Last updated: Aug 12 '14

NavStack with Skid Steering robots edit

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

NavStack with Skid Steering robots