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Motion planning (also known as the navigation problem or the piano mover's problem) is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.

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Creating linear end effector motion using joint speeds: Converting tool speed to joint speeds

Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two ...
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46 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, ...
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45 views

Math behind trajectory 2d planning

I have a case of a differential drive robot and a control system in a two-dimensional environment: Now the problem: we would like to make our particle move from point A to point B, and from there to ...
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20 views

Question about dynamic window approach (integration)

I would like to use the dynamic window approach for collision avoidance. I have red the paper The Dynamic Window Approach to Collision Avoidance from Fox Burgard and Thrun (https://www.ri.cmu.edu/...
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32 views

How to increase the payload for the KUKA arm with KR210 claw?

https://github.com/udacity/RoboND-Kinematics-Project We are using the above mentioned KUKA arm model to simulate pick and place. We noticed that KUKA arm would not pick objects heavier than 2.5 kg in ...
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Orientation problem between Gripper and Object ??

I am working on a pick and place project using ROS & MoveIt!, I wrote my own pick and place functions which generate grasp poses according to the pose of the object and then automatically picks. (...
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1answer
61 views

How to plan path for robotic arm with RRT?

I have written simple RRT planner however I am not sure how to apply it to a robotic arm path planning. The issue is that of analytical solution absence to inverse kinematics problem. Let me explain. ...
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109 views

Motion planning from a given path

Many articles reference algorithms such as A*, PRM or RRT based planners to motion planning algorithms which seems unreasonable since it is still necessary to parametrize found path with time.I wonder,...
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165 views

Are S-Curve (constant jerk) motion profiles significantly better than constant acceleration?

I've been investigating S-Curve motion profiles for CNC router and 3D printer applications, and haven't come across any definitive source that says an S-Curve profile is necessary in any application. ...
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79 views

Optimal-Time Trajectory Planning in 1D

I have been searching for a solution to the mentioned above problem, but nothing was accurate enough. I am trying to find the optimal-time trajectory for an object from initial point A to final point ...
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1answer
86 views

Configuration space of rotating link

I have only recently started reading Steve LaValle's book on motion planning. It mentions that a rotating link with a fixed pivot has a configuration space of a unit circle. Since the configuration ...
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207 views

Project ideas for Robot modeling

I am a 1st-year grad student majoring in robotics. I have the opportunity to select and execute my own projects for a course called Robot Modeling. For the project, I have decided to model a UR5 and ...
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41 views

Question about DeepMPC (Lenz 2015)

I have been working my way through the paper titled "DeepMPC: Learning Deep Latent Features for Model Predictive Control", and I had a conceptual question. Is the time varying non linear dynamics ...
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2answers
60 views

Is there a formal name for translating poses into robot states?

I've been working on a module that takes in planar poses $\begin{bmatrix} x_{t_{k}} & y_{t_{k}} & \theta_{t_{k}}\end{bmatrix}^{T}$ and spits out expected robot states $\begin{bmatrix} x_{t_{...
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107 views

Getting started with motion planning

I have recently finished the coursera Motion Planning course and I am looking for a project to do, using ROS, OpenRave, Gazebo and similar tools. My project would be in the area of motion planning for ...
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1answer
91 views

Generation of a trajectory (position,velocity,acceleration) from velocity

I would like to generate a trajectory for a quadrotor UAV and I am using an architecture which allows to do so only by specifying position, velocity and acceleration. I only know that I want to do a ...
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300 views

Generating double s-curve velocity profiles with given time

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize ...
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2answers
400 views

How to move a robot to a point while avoiding obstacles?

I am trying to move a robot in a straight line from point A, to point B. The robot's primary sensor is a Hokuyo URG-04LX-UG01 LIDAR that gives me the magnitude and direction of each point it detects ...
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1answer
38 views

How to efficiently update a local Cartesian frame when traveling over long distances on a curved earth

I have a mobile robot which receives GPS position (lat/lon) and has an IMU for handling gaps in GPS service. I want to be able to conduct short distance planning in a Cartesian plane, but the robot ...
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1answer
106 views

Do the distance function and steering function in an RRT have to be related?

I am developing an RRT (rapidly exploring random tree) for car-like robots in SE2 space using Dubins steering function and have a question that has implications on the performance of RRTs. In order ...
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44 views

Open-source software that supports multi robot simulation and navigation capabilities [closed]

I am interested in knowing a software platform which deals with multi-robot navigation and:- has implemented local collision avoidance algorithms for each robot to prevent collisions between ...
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442 views

Is there an open source autonomous vehicle simulator with control over traffic? [closed]

As a part of my research work I'm supposed to build or use an existing autonomous vehicle simulator, in which I can also control the behaviour of the traffic in the system, I was searching on Google ...
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1answer
104 views

Software for mission planning in multi-robot systems

I am interested in mission planning for multi-robot systems. Given multiple robots and multiple tasks and an environment, I need to specify missions and software should plan for the robot team to ...
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2answers
181 views

How to derive the Cubic Interpolation algorithm?

I have a data point array. Which is recorded at 20Hz(0.05 second. It can be 30Hz, 40Hz, 50Hz. 20Hz is an example value) I want to interpolate this data to bigger frequency for example 1kHz(0.001 ...
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1answer
82 views

What is the difference between conventional and unconventional path planning methods?

Is there an exact definition for conventional and unconventional path planning methods? What are the features that help distinguish conventional and unconventional path planning methods? What is an ...
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2answers
187 views

Math behind trajectory planning

Let's assume the very simple case of a particle and a control system in one dimensional space therefore our particle can move only in a straight line and dynamics of system is described by: $m\vec{a} ...
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1answer
322 views

Real-time TCP position/pose control on a robotic arm such as YuMi: recommendation to calculate IK/Inverse Jacobian?

I plan to make a mouse or a gesture control robot like this video on YouTube : ABB Externally guided motion.  For a 6-axes robot, I could implement it by using ABB’s EGM (Externally Guided Motion) ...
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165 views

bounded deviation for straight line motion

I came across the paper(link given below) which discusses about bounded deviation joint path for straight line motion. Planning and Execution of Straight Line Manipulator Trajectories (RH Taylor) ...
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168 views

Motion planning and robot controlling

I am stuck with understanding how can I make my robot move along planned path. For instance, if we have a grid map of an environment and applied, for example, A* to plan a path then after that we have ...
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248 views

Are there any open source path planning libraries that implement Voronoi diagram techniques?

I've been looking into path planning for a non-holonomic robot with 3 DOF in a 2D plane and recently learned about Voronoi diagrams but I cannot find any open source planning libraries that use this ...
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1answer
172 views

How to make RRT to work for dynamic systems?

I want to make path planning algorithm for a quadrotor with RRT in my thesis. I have searched lots of articles and come up with the concept of "dynamic RTT" and one of the articles has a title "...
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2answers
190 views

Motion planning with sequential convex optimization

I recently read a paper titled Finding Locally Optimal, Collision-Free Trajectories with Sequential Convex Optimization by John Schulman, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow and Pieter ...
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967 views

Advise on ROS move_base costmap footprint not connected error

I'm using ROS indigo in my project and all the nodes and visualisation (Rviz) seems to be functional when I launch the program using roslaunch. Here are the sensors used in the scooter: Hokuyo Lidar ...
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126 views

How can we solve the problem of robot size in sensor based motion planning?

As you know in Bug algorithm there is a simplifying assumption that says the robot has no size and can fit between any arbitrarily small gap in the map. How can we overcome the challenge of robot size....
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1answer
112 views

Seminal work in multi-robot task decomposition [closed]

Multi-Robot task decomposition implies that there is a mission that needs multiple mobile robots like guarding the president's car with a team of drones. This high-level layman interpretation of the ...
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2answers
80 views

How can a DMP be used for simulating physics?

I read a paper from 2015, "Structural bootstrapping - A novel, generative mechanism for faster and more efficient acquisition of action-knowledge ", which introduces a concept called, "Structural ...
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2answers
234 views

Path planning of 2 arm 4dof Robot

I am working on path planning for a 2 arm 4dof (2 dof for each arm) robot. I am currently using a centralised planning methodology (considering the multi robot system as a single one with higher dof, ...
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356 views

Obstacle Avoidance while Navigating

I need some ideas for strategies or algorithms to apply on these strategies to perform obstacle avoidance while navigating. At the moment I'm doing offline path planning and obstacle avoidance of ...
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1answer
385 views

Task space to joint motion space conversion

I am the moment trying to read and understand this paper Task Constrained Motion Planning in Robot Joint Space but seem to have a hard time understanding the math. The paper describes how to ...
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1answer
291 views

VFH (Vector Field Histogram+): Obtaining the Primary Polar Histogram

Good day Note: I have found out that my code works. I have placed a minor explanation to be further expounded. I have been having trouble obtaining the right directional output from my ...
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1answer
123 views

VFH+ (Vector Field Histogram+) : Is it possible to choose a candidate sector without a set goal point?

Good day I am currently implementing the VFH algorithm. Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle? I have been able to ...
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2answers
121 views

Estimating the displacement of a drone in three dimensions

Assuming a drone is in two dimension, it has to predict its future position by calculating its future displacement: For a real quad-rotor, why should we not only estimate the displacement of a robot ...
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1answer
209 views

Configuration space obstacle - calculating collision

I need to calculate the configuration space obstacle to planning a path with a mobile robot. The idea is to divide the obstacles and the robot in triangles and test whether is there any triangle from ...
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1answer
129 views

Path planning for visual servoing

I am at moment trying to implement a visual servoing application. the robot I am using is a UR5, and TCP has a stereo camera mounted on to it. The idea is to move the end effector according to the ...
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3answers
699 views

Generalized Voronoi Diagram

I need to compute the Voronoi diagram for a map with some obstacles but I can't find any pseudo-code or example in MATLAB. The "voronoi" function in MATLAB works with points, but in this case the ...
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1answer
212 views

ComputeShortestPath() in Dstar lite algorithm

In optimized D*Lite algorithm as shown in the figure below (page 5, of the paper D*Lite), when the procedure ComputeShortestPath() is called for the first time in line 31, U(list of inconsistent ...
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1answer
265 views

Meaning of s_last in D star Lite algorithm

In the D*Lite algorithm, described in line 21 of Figure 3, on page 4, in D* Lite, the main() starts with defining $s_{last}=s_{start}$. But value of $s_{last}$ is ...
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1answer
27 views

How is Topology-based representation invariant to certain change in environment

The article of Topology-based representation (page no. 13, line 5) says that, topology-based representation is invariant to certain changes in the environment. That means the trajectory generated in ...
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1answer
53 views

Meaning of the equation of graphical model

The paper Topology-based Representations for Motion Planning and Generalisation in Dynamic Environments with Interactions by Ivan et.al., says on page 10 that the Approximate Inference Control (AICO) ...
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1answer
38 views

Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics

In the article of Topological Based Representation(Page no. 12), the equation of the Linear Gaussian system dynamics is given as In above equation what is the meaning of 'curly N'?