Tag
Mobile Robots tutorials
14 tutorials tagged Mobile Robots.
Beginner · 25 min
Holonomic Drives: Omni, Mecanum, Swerve Compared
Four drivetrains, three degrees of freedom, and what each one charges you for them.
Read tutorial →Intermediate · 35 min
Mecanum Wheel Kinematics: Four Wheels, Three Axes
One roller at 45° gives you the whole matrix — and a fourth equation nobody uses.
Read tutorial →Intermediate · 45 min
From cmd_vel to Wheel Speeds: ROS 2 Differential Drive
Convert a Twist into left and right wheel speeds — kinematics, saturation, deadband, and a watchdog.
Read tutorial →Intermediate · 20 min read
Differential-Drive Odometry from Wheel Encoders
Integrate left and right wheel motion into a mobile robot pose, then identify and calibrate drift.
Read tutorial →Intermediate · 25 min
Cross-Track Error: Measuring How Well You Follow
One signed distance tells you everything about a path follower — including which one to use.
Read tutorial →Intermediate · 30 min
GPS Waypoint Navigation for an Outdoor Robot
A GPS fix is late, noisy and has no heading. Here is what to do about each of those.
Read tutorial →Intermediate · 30 min
Pure Pursuit: Following a Path With One Knob
Aim at a point ahead on the path and drive the arc that reaches it. That is the whole algorithm.
Read tutorial →Beginner · 25 min
Bump Sensors and Debouncing for Robot Collisions
One press, nine transitions — and the interrupt counts every one of them.
Read tutorial →Intermediate · 30 min
Coverage Path Planning: Sweep a Whole Floor
Why a robot with no map needs seven times the distance to finish the same room.
Read tutorial →Intermediate · 25 min
How Hard a Robot Can Push: Traction and Weight
Two ceilings set push force, and on a small robot the floor is almost always the lower one.
Read tutorial →Intermediate · 25 min
Stopping at an Edge: Latency and Braking Distance
How far a robot travels past the line it just saw, and the speed that makes it fit.
Read tutorial →Intermediate · 30 min
Wheel Slip: Why Odometry Drifts and How to Fight It
Every odometry page says slip ruins the estimate. This is what slip is and what it costs.
Read tutorial →Intermediate · 21 min read
A* Path Planning on an Occupancy Grid
Build and validate an A* grid planner with safe heuristics, obstacle inflation, and route reconstruction.
Read tutorial →Intermediate · 20 min read
ROS 2 TF2 Coordinate Frames for Mobile Robots
Build and debug a TF2 frame tree from map and odom through the robot base to each sensor.
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