fake encoder ticks from laser scanner?

asked 2019-04-11 11:36:38 -0500

makemelive gravatar image

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 rf2o_laser_odometry 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!!

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Comments

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.

gvdhoorn gravatar image gvdhoorn  ( 2019-04-11 15:49:05 -0500 )edit