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Driving the robot up a ramp

asked 2013-05-14 17:41:35 -0500

Astronaut gravatar image


I wont to do some test with my platform. My platform is an electrical wheelchair and I wont to calculate some parameters during the driving. I wont to drive it up and down a ramp and I wont to know how to calculate when the platform is up or down the ramp. So I will start in some point (horizontal level) and drive up the rmp till the end. So how to calculate that??


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Very interesting !

Arkapravo gravatar image Arkapravo  ( 2013-05-14 19:55:58 -0500 )edit

So any help????

Astronaut gravatar image Astronaut  ( 2013-05-14 22:13:04 -0500 )edit

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answered 2013-05-15 04:08:12 -0500

dornhege gravatar image

Assuming you have an IMU, look at the pitch angle:

  1. should be below a flat surface threshold, e.g. 5°
  2. wait until above threshold for ramp angle, e.g. 20° -> on ramp
  3. wait until below flat surface threshold, e.g. 5° -> off ramp

It's basically like a Schmitt-Trigger if you are familiar with that.

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yeas, but IMU is very drifted, Only based on IMU will not give such accurate results

Astronaut gravatar image Astronaut  ( 2013-05-15 04:59:29 -0500 )edit

is it possible to use the pose from Hactor mapping or amcl that has a pitch component?

Astronaut gravatar image Astronaut  ( 2013-05-15 05:07:51 -0500 )edit

I have a map of the environment so want to use the pose for that purspose

Astronaut gravatar image Astronaut  ( 2013-05-15 05:21:26 -0500 )edit

You have a very crappy IMU than I think. A simple accelerometer should be able to correctly measure the angle of the gravity vector.

davinci gravatar image davinci  ( 2013-05-15 05:31:29 -0500 )edit

The pitch angle of an IMU should not have drift.

dornhege gravatar image dornhege  ( 2013-05-15 06:36:14 -0500 )edit

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Asked: 2013-05-14 17:41:35 -0500

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Last updated: May 15 '13