Questions tagged [motion-planning]

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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Motion planning with Gaussian Process Regression

I was recently introduced to Gaussian Process Regression (GPR). I read multiple papers regarding use cases of GPR in robotics, however, they were more or less very limited. Use case from the ...
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34 views

Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
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401 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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20 views

Pure Pursuit controller slow response for long look ahead

The pure pursuit calculates the steering angle based on that equation: $$\delta = \tan^{-1}\left(\frac{2L\cdot \sin(\alpha)}{ld}\right)$$ Where $L$ is the wheelbase, $\alpha$ is the target angle, and $...
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21 views

unable to integrate local planner plugin into move_base

I am trying to integrate my local path planner plugin into move_base. On launching the modified ...
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49 views

How does inverse compositional Lucas–Kanade algorithm work?

I am trying to understand the Lucas–Kanade algorithm since I am reading a paper in which is applied the inverse compositional Lucas–Kanade algorithm, but in order to understand the latter I have to ...
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35 views

Link collision avoidance for redundant manipulator

I am trying to have my robot arm follow a trajectory while avoiding collisions between obstacles and the robot links. The way I go about it is to find the closest point on the robot arm, and treat the ...
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55 views

How to find the optimal path for a line following maze robot?

First let me explain the problem. This is a maze made only out of black lines on a white surface. The robot has only a few IR sensors which can sense the position of the line. No other sensory input ...
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54 views

When do I do motion planning?

I am studying mobile robots, and I am focusing my attention to the unycicle. I have a doubt concerning the motion planning part. In particular I don't understand when the motion planning is done and ...
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865 views

moveit! trajectory execution aborted

I'm trying to send a custom arm to a pose through moveit_commander_cmdline.py, it fails after sending to the said pose using " go default_pose" and returns an error. ...
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20 views

Statistical distance between degenerate distribution and any probability distribution

In sample-based motion planning, sampling methods would change the cost of path and computation time for the same planning algorithm. I would like to compare different sampling methods. So, the ...
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969 views

URScript - how to get the actual TCP pose in tool space coordinate system?

I am writing a simple script for universal robots UR10 robotic arm. I am trying to find a way to to see if the tool current position is outside of a 3D bounding box. the 3D bounding box is defined ...
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1answer
232 views

Controlling YuMi robot by serial port

I'm trying to control the YuMi robot arm by a serial port. The serial port will give the information on what direction the end-effector should move and what is the velocity. What I would like to ...
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240 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 ...
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2k 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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35 views

Action cost to get smooth path

What action cost should be used to get a smooth path? Like we use distance traversed to get the shortest path. Will the cost to get a smooth path will be something related to rate of change of slope ...
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90 views

Power Model for humanoids

I am in the process of creating a Power Prediction Model for the Hubo Robot. The Robot has 38 Degrees of Freedom and has a computer some sensors and motor boards. The motors are powered through Motor ...
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1answer
24 views

Dynamically-stable Motion Planning for Humanoid Robots

I was reading the classical robotics paper Dynamically-stable Motion Planning for Humanoid Robots and I don't understand why the two trees are swapped in line 7 of figure 5 (page 11). Seems like an ...
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19 views

What are cases where bug1 algorithm would be bug2?

I have been reading Principles of Robot Motion Theory, Algorithms and Implementations by Choset et al and I can't seem to understand how bug1 would beat bug2. It is harder for me to see given that ...
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12 views

Motion planning algorithms with applications in drug design

I am reading the introduction (chapter 1) of Principles of Robot Motion Theory, Algorithms, and Implementations by Choset et al. and they mention drug design uses motion planning. The text below is ...
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32 views

Initial Solution Dynamic Optimization

Community, For mobile robot-trajectory planning i use dynamic optimization for a system with nonholonomic constraints and dynamics together with a cost function. This works somewhat well, howewer the ...
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27 views

Differential constraints for RRT and PRM

Differential constraints induce a boundary value problem for the connection of two nodes [1]. RRTs are generally said to better deal with this than PRMs. However, why is not entirely clear to me. Is ...
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34 views

novelty of LQR-RRT* at an article

I am reviewing this article: LQR-RRT∗: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics ,Alejandro Perez, Robert Platt Jr., George Konidaris, Leslie Kaelbling and ...
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34 views

Can a state lattice planner be used purely as a local planner?

I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a ...
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15 views

Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
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14 views

looking for an online map pgm repository

I am currently writing a path planner. I wanted to test the planner for various scenarios. I was wondering if there is a repository wherein I can find a number of pgm (+yaml) map files. I came across ...
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24 views

Trajectory Planning for Automatic Machines and Robots Book-page 365, is there an error ? it is not included in the Errata

the subscript of the last m-1 p and r why not is z ?, since it refers to 3D case.
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14 views

How to Calculate Individual Axis Commands Out of 5 Axes G-Code?

I am dealing with 5 axis CNC machining time prediction. I would like to ask the question with providing some background and mentioning the constraints which what I concluded from some of the ...
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42 views

CHOMP Planner freezes rviz Motionplanning in ros

I am trying to use the CHOMP planner for my custom robot by following the tutorial. After setting everything up as shown in the tutorial, I tried to plan a very simple movement. As one can see in the ...
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1answer
250 views

Are there any tutorials for OMPL in Python?

I want to learn and understand the Open Motion Planning Library (OMPL) through Python as I don't have much experience with C++. Almost all tutorials are written in C++ and there are some demos in ...
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54 views

From an end-effector trajectory to joints movements

let's assume that our robot consists of 3 degree-of-freedoms. In order to move the end-effector of this robot along a straight line, these 3 joints have moved as below: Now, if the desired end-...
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68 views

NodeMCU ESP-12E Wont Print to Serial in Arduino IDE

So, im using a ESP-12E nothing special about it, to try and run this code i found from a custom library example. ...
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47 views

Problem with solution (equation) for wrist singularity

In my textbook about industrial robots it says that if the angle q5 in this robot is equal to 0, there are infinite solutions for the angles q4 and q6. I understand this part, but I have a problem ...
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167 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 ...
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1answer
190 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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55 views

SLAM Goal Babbling

I am struggling to find good links to the use of goal babbling in SLAM applications. Has this technique been used as a method for optimizing movement in a SLAM environment?