How do robots know where they are? | Essence of Robot Odometry Pt. 3

How do robots know where they are and which direction they’re facing? An in-depth explanation of the odometry tracking theory used in VEX and FRC robots.
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Full Essence of Robot Odometry Playlist ⏯: • Essence of Robot Odometry
Check out the previous video here⏯: • Learn the Math behind ...
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Timeline:
(0:00) - Introduction
(1:31) - Designing a coordinate system
(2:18) - Calculating the y-coordinate
(5:30) - Calculating the x-coordinate
(6:58) - Outro
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For those who want to learn more, I highly recommend this document by Team 5225A introducing their position tracking system, which helped play a major role in them becoming the 2018 Vex World Tournament and Skills Champions: thepilons.ca/wp-content/upload...
Team 5225A has also graciously released their winning code as an educational resource here: github.com/nickmertin/5225A-2...
I also highly recommend this other paper by MIT on odometry and motor controls: bit.ly/3duutTw
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#Odometry #Robotics #ControlTheory #VEX #FRC

[@cysthia]

Your explanation is incredibly nice and simple. Thank you so much for explaining complex ideas and distilling them into easy-to-understand concepts. I'll wait for your next video!

[@addisonyoung9130]

Will there be a part 4 soon? Could use it for spin up.

[@lucassciarratta5166]

Thank you so much! I've been struggling reading the introduction to tracking theory by the pilons and your series has been much easier to learn from. By the way, I know many people are asking, but when could we get a part 4? I'm excited to put it all together and I'd like to use odometry for spin up this season! Keep up the great work!

[@braydensmith6069]

Great video can’t wait for part 4

[@cgmuzic4119]

Thank you for the detailed explanation. We're eagerly waiting for the code implementation example of odometry.

[@spiderking1440]

Need a part 4 right now

[@spiderking1440]

My robotics teams autonomous would be so much better with odometeyb

[@cosmic4579]

When is part 4 coming out, this is really helpful.

[@rohananne8420]

Great video! When are you making a part 4?

[@cethinao3334]

Thank you so much, im only doing ms vrc and this was one of the only tutorials i could understand

[@boluwarin]

Your videos are awesome

[@velocityspider635]

part 4? great vid

[@kaspulanwar7082]

nice video.... clear and easy to understand.
how about Part 4? I think many viewers waiting for your next tutorial

[@alonsoibarrahector8773]

Thank you for the videos, I was waiting for this video, I working in a odometry system, I use 2 pid Controls, one is for the lineal motion and the other one is for the turns, so finally I have a odometry system with the PID to control the velocity of the robot, do you think that is a good idea?
Your videos of odometry are very helpful, good job, you help me so much to develop my odometry system

[@cucubob9535]

man you got everyone waiting for part 4.. seems like something went wrong. could you please update us on ur situation and try for part 4 since it would very useful to have a example and see odometry in use/explained.

[@Twilight_Tasogare608]

Please do the next video!

[@herrkeldermann1335]

Hi, good Job. Do you know when Part 4 will be online? Greetings from germany.

[@jordancan2]

When will part 4 be coming out?

[@kellyzhang1865]

when calculating the x coor, can you explain why the theta used is the same as the theta used in the y coor calculation? Isn't theta calculated with the right and left tracking wheels? then say the robot were to get pushed purely sideways, in the formula, the x coor would not reflect that change? thanks

[@aeku_69420]

If the robot is purely pushed side ways theta doesn't change i.e its 0. In the implemenation you can make a seperate case for when theta is 0. Basically you set the sin(theta/2) to be 1 instead and the rest of formula stays the same.

[@mitchelljust4728]

When are you making the part 4 video?

[@satvikkumar3585]

When are you planning on making a part 4

[@user-js3kp1xe3g]

hi, bro! use left tracking wheel and right tracking wheel is order to get the degrees of robot changed??? so , if use gyro, Can I reduce the use of one tracking wheel and only use two tracking wheels???hope for your reply，thanks

[@ericgolub8589]

Hello, i was wondering what thoughts you have about using an inertial sensor to find absolute position, do you think it would be more or less actuate then tracking wheels, thanks

[@itsvoid2917]

Less accurate

[@ryan4253b]

ah yes the long awaited sequel

[@pardisimusdorsi]

Part 4!!

[@aeku_69420]

Hi, thank you so much for going through the effort and time to explain the math so well. I just a one question about how to measure the distance from encoders to tracking center? Is there any very accurate and consistent way to do so? Thanks so much

[@itsvoid2917]

physically measure the distance using a ruler or calipers...

[@GGremlin-fr5fy]

still waiting for a part 4

[@eggxecution]

Hi can make an arduino code for implementing odometry using only 2WD smart chassis kit. The idea is to make the robot car to go to a specific set (x,y) coordinate using only two speed sensors and using Arsuino IDE. I'll pay you for a fine price cuz really i's so hard and there'a not enough info on yt and internet. It's also our project btw.

[@user-js3kp1xe3g]

have plan for part 4?

[@alexsalgado]

Do you plan about visual odom video?

[@lucaszhang8226]

in the end when calculating the y coordinate when substituting shouldn't it be delta r * theta

[@mysteriouswall7654]

@5:06 I was wondering how does factoring out a 2 place a 2 in the denominator of 1 - cos( Θ)?

[@acquidity_4062]

Because you're taking a two that isn't there from the inside, it's the same as dividing by two, or multiplying by 1/2. As such, the denominator of 1 - cos(theta) becomes a 2, which leaves you with (1-cos(theta))/2.

[@kvnptl4400]

so, part 4 not coming? 🥺

[@rogscar153]

Rex wheres the next video

[@Blaze-lx4ju]

Part 4?

[@aswina7666]

Y is it called vector ?
We are only finding a single value ??

[@thomasdang2923]

part 4?

[@pushpanjalijha2779]

Where is part 4

[@hi_beemo1808]

why they don't just use an accelerometer ans a gyroscope

[@kaavinnewatia9880]

episode four please!!!!! 🤡🤡🤡