fake encoder ticks from laser scanner?

Hi, this is my first post here

I have a 4WD differential robot with encoders, but after testing i think the encoders dont work (except 1) So i thought go away with encoders altogether and use a 2D ydlidar,

With hector slam rf2olaserodometry i can publish odom required for interfacing with Navigation Stack I also have a Kinect and will buy IMU

My problem is how to implement Closed loop PID Control since i don't have encoders to measure velocity, can i infer velocity from the laser scan and use that for PID Control

Also can i use this inferred velocity to infer fake encoder ticks for interfacing with Ros Control?

I have a Jetson TX2 so the computing performance is good. Thanks a lot!!

Asked by makemelive on 2019-04-11 11:36:38 UTC

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There is something called "visual odometry", which should be able to provide you with a velocity estimate. Whether that works with just a 2D laser scan I don't know though.

A complication factor might be that you'd potentially want to control velocity of individual wheels, while VO would give you Twists in the vehicle local coordinate system.

Asked by gvdhoorn on 2019-04-11 15:49:05 UTC

fake encoder ticks from laser scanner?

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