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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4
votes
2answers
2k views

Navigating through a Maze using path-planning (Dijkstra)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in ...
18
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6answers
11k views

What is the difference between path planning and motion planning?

What are the main differences between motion planning and path planning? Imagine that the objective of the algorithm is to find a path between the humanoid soccer playing robot and the ball which ...
4
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1answer
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Velocity Model Motion in Matlab (Probabilistic Robotics)

I want to implement the velocity motion model in Matlab. According to Probabilistic Robotics page 124, the model is as following \begin{align*} \hat{v} &= v + sample(\alpha_{1} v^{2} + \...
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3answers
3k views

With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
6
votes
1answer
3k views

Implementing a boustrophedon algorithm in a given room with obstacles

I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from ...
5
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4answers
4k views

What are the advantages of optimal control as opposed to control theory?

For a robot, say path planning in particular, what are the pros and cons of choosing classical control theory or optimal control (LQR for example) ?
3
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2answers
332 views

What is the difference between Obstacle Avoidance and Dynamic Path Planning?

I always assumed that obstacle avoidance refers to general prevention of collisions with any kind of obstacles, even without considering a goal for the decision how to execute an avoidance maneuver. ...
3
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3answers
2k views

Working of Autonomous Lawn mower(ALM) in an unbounded area without a perimeter wire

I have an Autonomous Lawn mower(ALM) which can mow a certain lawn area when that area is bounded by a perimeter wire. Even when that perimeter wire is removed, it has to mow the above mentioned area ...
2
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1answer
111 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
2
votes
2answers
394 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} ...
2
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2answers
331 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 ...