Questions tagged [algorithm]

A step-by-step procedure for calculations. Algorithms are used for calculation, data processing, and automated reasoning.

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How to calculate the ground truth of your own simple dataset for testing your SLAM Algorithm?

I have tested my SLAM algorithm on EuRoC, TUM and KITTI Datasets. But I would like to test on my own custom dataset. Moreover, I already rectify how to make my own dataset in TUM dataset format, but I ...
1 vote
519 views

biped walking using Genetic Algorithm

I am working on a project but I lack advanced programming knowledge, especially about genetic algorithms. I am developing a prototype using WEBOTS 7.4.3 for the simulation. The project is to use ...
1 vote
1k views

Why does the Denavit-Hartenberg representation fail to capture the length of the last link in my model?

The length of the last link (1.73) of my model (of a human finger) is not represented in any of the parameters that I calculated using the Denavit-Hartenberg algorithm, which I think can't be right. I ...
267 views

Likelihood field sensor model (Probabilistic Robotics, Thrun et al., p.169-174)

I am currently working on the "likelihood field" sensor model (aka "endpoint model") by Thrun et al. (book: Probabilistic Robotics, Thrun et al., p.169-174) In this context I have ...
56 views

Articulated Body Algorithm with gear ratio

I am reading up on the proposed articulated body algorithm by Featherstone, which goes like: Pass 1: \nu_0 = 0\\ \nu_i = {^i}X_{\lambda(i)}\nu_{\lambda(i)}+s_i\dot{q}_i\\ c_i = \nu_i \...
111 views

Why are Euler angles used for drones

I know this question is asked before, but the reason why was still not clear to me. If you've a 6-DOF IMU, the gyroscope measures is degrees/s or radian/s. Why do we want to convert the body rates to ...
2k views

How to implement a wall following controller for a TurtleBot3? (ROS - Python)

I want to implement a wall following controller for my TurtleBot3 (with ROS system). Sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (one on the left and ...
195 views

Solving a grid maze with blocked paths

I have to build two robots (virtual) that will solve a grid maze that has blocked paths colored in red. The robots cannot go on these red paths in any case. There are several white patches in some ...
163 views

Does a stable library exist for docking robots using images?

I built a mobile base from scratch, and now I am focused on getting the robot to charge. The robot is using an on-board webcam (and PC) to detect a QR barcode on the charger unit. Using OpenCV I find ...
226 views

How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
1 vote
294 views

Deduce all possible configuration for a given CONF param FANUC

I am working on the "CONF" parameter of FANUC Robots. The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
25 views

Need help with counting the number of robots on the circumference of a circle much larger than the communication radius of the robots

I have a circle of radius 300 cm on whose circumference robots stop after moving in the environment. The robots only have a communication radius of 10 cm such that they can fit 6 robots along the ...
1 vote
175 views

Path planning using nodes

I want to run my bot over a map that has nodes and I am just stuck about how to begin the path planning, I literally searched over the internet and found so many algorithms Like A* , Dijkstra's, etc. ...
29k views

What algorithm should I implement to program a room cleaning robot?

For this question assume that the following things are unknown: The size and shape of the room The location of the robot The presence of any obstacles Also assume that the following things are ...
169 views

Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms. ...
529 views

PID vs Fuzzy line follower

I am making a line follower to follow a white line (approx 1.7 cmm wide) on a black track. I am using an array of 5 TCRT5000 (IR led+phototransistor) to detect the line. I was previously working with ...
41 views

Best kit for prototyping/testing driving/vision algorithms

I'm wondering what's the best vehicle kit for testing control/navigation algorithms. I want something with some degree of hardware abstraction (in the sense of not having to write too much i/o, ...
5k views

RRT algorithm in C++

I want to implement RRT for motion planning of a robotic arm. I searched a lot on the internet to get some sample code of RRT for motion planning, but I didn't get any. Can someone please suggest a ...
34 views

Survey path planning for UAV with high turning radius

I want to perform rectangular area survey. The sensor can either work with very narrow FOV or with wide FOV but requiring very high overlap. My plane's turn diameter is much greater than required ...
2k views

How to implement the Wavefront algorithm?

I am thinking of creating a robot that can navigate using a map. It is controlled from a PC. An 8-bit controller performs low level tasks and the PC is doing the image processing. I plan to implement ...
741 views

How do I convert centre-returning joystick values to dual hobby-motor direction?

Currently my setup is: 2x hobby TT motors connected to a Pi Zero with a motor HAT Python script running on the Pi which runs a Blynk python client and controls motors via the gpiozero library Blynk ...
151 views

How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
1 vote
391 views

Odometry using wheel encoder with no differential drive

I am currently looking for a way to do odometry using wheel encoders, for a car that has no differential drive. The two rear wheel would rotate at the exact same speed. I have been looking everywhere ...
883 views

How do I create a broken line follower? [RobotC] [Legomindstorm] [Ev3]

Trying to create an algorithm/code in order to get my robot to follow a track which it currently can do, using a color sensor and following the inside edge. So I'm wondering how to transition to the ...
272 views

Path-following algorithm and suggestions for mecanum robot

I have a robot with four mecanum wheels (blue square) that can move in an open-space room. The position x,y of the robot is measured in a very accurate way by a fixed position sensor (red circle) that ...
1 vote
307 views

What is exact model of haptic interface system in the paper "Time-Domain Passivity Control of Haptic Interfaces"?

I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
30 views

Algorithms for controlling low-speed movement of gearless robots

Collegues, i am a little discouraged by the lack of a clearly formed section in the literature on which algorithms are used to control the low-speed movement of gearless robots. In my opinion, it is ...
1 vote
1k views

How to drive mecanum wheels robot: code or algorithm

I have a robot with four mecanum wheels and I would like to make it move correctly by using a RC transmitter (my controller has two sticks and several buttons, each stick has a proportional range of [...
223 views

Is it wise / possible to use multithreading to handle control system on robot? For example, a line follower robot with PID control flowchart would be: read_sensor() -> calculate_control() -> ...
1 vote
76 views

Block algebra and normal algebra inconsistent

I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
1 vote
180 views

Is Fuzzy logic applicable for robotics research

I found some papers that use fuzzy logic to solve robotics algorithmic problems. But I have recently been told by a few roboticists that fuzzy logic should not be used in robotics because it has ...
65 views

Multiple robots performing a set of tasks (Optimization)

Consider a situation where you have a 'm' number of robots and 'n' number of tasks. Each task is at a different location. What optimization algorithm should I use in order to assign a set of tasks to ...
63 views

ROS Algorithms & sensors

I am trying to implement boustrophedon algorithm using mobile robot. Can I implement this without map? I am planning to use dimensions (x,y) of the farm as reference assuming it is rectangular in ...
127 views

Efficient sphere surface area search

As shown in the figure, there are objects of arbitrary shapes placed on the surface of the sphere at arbitrary locations. The problem is to search the surface to locate these objects in most efficient ...
218 views

Planning minimum snap trajectories

I am working on motion planning algorithm for quadrotor. As I have learned in Coursera Aerial robotics course, trajectories for quadrotors should minimize snap which is equivalent to interpolating ...
64 views

What is the correct algorithm name for this "Shortest Path Maze Solver"?

What is the correct algorithm name for this Shortest Path Maze Solver? The algorithm works by completing the maze and at each turn storing each of the turns in an array until the maze once the maze ...
193 views

How to handle sensor data for a sensor-fusion algorithm

I am implementing the explicit complementary filter(see below) with a 9DOF MEMS sensors (accelerometer, magnetometer and gyroscope) for attitude estimation. Currently, the gyro and accel update rates ...
1 vote
22 views

Problem with UKF weights when calculating predicted state

I'm having troubles implementing a UKF during the calculation of $\overline{\mu_t}$, specifically in this step: $$\overline{\mu_t} = \sum_{i=0}^{2n}w_m^{[i]}\chi_t^{*[i]}$$ My problem I'm facing is ...
1 vote
230 views

Why won't my PID line follower work?

I'm trying to implement a PID based line follower. The robot has 2 line sensors with ranges from 0-200, with 0 being black and 200 being white. I'm trying to follow a black line. I'm struggling to ...
5k views

What's an efficient way to visit every reachable space on a grid with unknown obstacles?

I'm trying to create a map of the obstacles in a fairly coarse 2D grid space, using exploration. I detect obstacles by attempting to move from one space to an adjacent space, and if that fails then ...
196 views

How to calculate shortest path between multiple pick and drop destinations

I have a scenario where I have multiple robots, and they have to pick and drop some items at specified locations as shown in Figure. There are 4 jobs to be done for this particular instance. How can ...
1 vote
275 views

Incremental (on-the-fly) smooth trajectory interpolation algorithm from waypoints?

short version (TL;DR): I'm receiving x(t) waypoints "online", which I must travel through at the specified times. I need an algorithm that would plan a smooth trajectory in-between them without ...
3k views

information filter instead of kalman filter approach

I read many sources about kalman filter, yet no about the other approach to filtering, where canonical parametrization instead of moments parametrization is used. What is the difference? Other ...
165 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
313 views

How often does a robot perform A* (A star) path planning in an unknown map?

I have read through lectures/ tutorials on A* but they have all been via computer simulations. I have an autonomous wheeled robot that is traversing an unknown map (essentially, it'll be a tabletop ...
45 views

Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
775 views

How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
154 views

Relation between GraphSLAM and Iterative closest Point algorithm

I have lots of doubts about GraphSLAM, The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures. When I practically implement it I get matrix singularity error. I taken ...
1k views

How to move robotic arm in straight line

So here is my problem. I need to grab an object with my robotic arm, but I don't know the position of the object. The only thing I know is the angle between object and gripper. You will maybe better ...
1 vote
147 views

Algorithm for orientation (pan/tilt) towards a moving point

Main Question: note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++. I have a camera on the top of my robot's "head" which has pan and tilt ...