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Hello, i have an Arduino Mega that control 6 motors and a 6 Channel Robogaia encoder counter + a Zed mini for the IMU. Drivers are LM298N I am searching for a valid approach or any tips that can help me in using odometry. Any help on this will be much appreciate Fabio
how are you wheels mounted, are those mecanum or normal. do you drive offroad or indoor/
for communaction you can send the tioics to ros and do there the odometry. or you could compute the odometry inside the arduino and publisch those to ros. i would recommment to use the imu in a spectial topic, so you can use thos in combination with ukf or ekf localisation.
you may read this paper https://www.sciencedirect.com/science... may it help.
Here is a picture od the Rover just to have an idea https://www.dropbox.com/s/t6eq89unhd3...
For the start you can use tank track kinematic. Leftside and right-side. Because witch all the friction you would not better to control.
Asked: 2020-11-06 03:03:22 -0500
Seen: 175 times
Last updated: Nov 06 '20
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