# 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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### 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 ...
208 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 ...
2k 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 ...
475 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 ...
354 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 ...
28 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 ...
65 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) ...
50 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'?
56 views

### Meaning of 'sign' in Writhe Matrix

Following is the equation of Writhe matrix from the article Topology based Representation(page no. 6). What is the meaning of 'sign' in the second part of this equation? I am not sure if this is some ...
655 views

### Difference between g-value and rhs-value in Lifelong Planning A*

What is the difference between g-value and rhs-value of Lifelong Planning A* algorithm? According to this link, D* Lite, g(s) directly correspond to the g-values of an A* search, i.e. g(s) = g(s') + ...
91 views

### OpenRAVE ChechCollison command in C++

What is the equivalent code of "env.CheckCollision(robot)" in C++? Even though it is said that conversion of commands from python to c++ is easy and intuitive, where can I find a proper documentation ...
4k 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 ...
171 views

### Applying MoCap data to real life robot

I have a Kinect Sensor, and iPi software I use to create motion capture data to use in film editing. I am looking at creating a small, Raspberry Pi driven bipedal robot just for fun, and I was ...
194 views

### Suitable D star variant is for non-holonomic motion planning of mobile robots

I am working on a non-holonomic motion planning problem of a mobile robot in a completely unknown environment. After going through some research papers, I found that D-star algorithm is widely used in ...
430 views

### why is quadrotor motion planning hard?

With introduction of incremental sampling algorithms, like PRM and RRT planning in higher dimensional spaces in reasonable computation time has become possible though it is PSPACE-hard. But why is a ...
71 views

### How to guide a camera through a circular tube?

Let's say I have a 6-DOF flying camera and I want to make it move through a circular tube autonomously and let's suppose that the camera and the system that makes it fly are considered to be just a ...
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 ...
146 views

### What is the difference between planning for kinematic car, dynamic car, blimp, and quadrotor? [closed]

I am working with a sampling based planning library. When I looked into the implementation, I found for kinematic car a SE2 state space(x, y, yaw), for dynamic car a SE2 compound state space (space ...
916 views

### A Vector Field Histogram implementation in Python 2.7

I am trying to implement the Vector Field Histogram as described by Borenstein, Koren, 1991 in Python 2.7 using the SciPy stack. I have already been able to calculate the polar histogram, as ...
621 views

### Check collision between robot and environment in OpenRAVE

I have a robot arm in an environment. How can I check for collision between this robot arm and the environment?
139 views

### How is homotopy used in planning algorithms?

What is an intuitive understanding for homotopy? At what stage is homotopy (I understand it as stretching or bending of path) in a planning algorithm? Is homotopy involved, for example, while ...
262 views

### How to load a PUMA robot in the existing environment in OpenRAVE 0.9

I have a PR2 robot in an environment, which can be seen on the GUI of OpenRAVE. Now, how can I load a PUMA robot arm in the same environment?
420 views

Where can I find a general implementation of Canny's Roadmap Algorithm(or Silhouette Method) for Robot Motion Planning?
97 views

### BiRRT: Getting path from an array of 7 DOF angle configurations

I've kind of finished implementing a BiRRT for a 7 DOF arm, using a KD-tree from numpy.spatial in order to get nearest queries. A picture is below: I'm currently having trouble with the fact that it ...
849 views

### Finding cubic polynomial equation for 3 joints

My professor gave us an assignment in which we have to find the cubic equation for a 3-DOF manipulator. The end effector is resting at A(1.5,1.5,1) and moves and stops at B(1,1,2) in 10 seconds. How ...
1k views

### Lifting robotic leg with only one servo

Note before I start: I have not actually put anything together yet, i'm still just planning, so any changes that require a shape change or anything like that are accepted. I'm working on making a ...
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 ...
1k views

### ROS MoveIt!, virtual joints, planar joints, prismatic joints

I do have a robotic application, where a 7Dof robot arm is mounted on a omnidirectional mobile platform. My overall goal is to get MoveIt! to calculate a sequence of joint movements, such that the ...
3k views

### rotation matrix to euler angles with gimbal lock

How do i determine which angle i can negate when gimbal lock occurs. As i've understood with gimbal lock that it remove one degree of freedom, but how do i determine which degree can be removed when ...
754 views

### Is there a simpler way than ROS for 5 DOF Dynamixel arm control

I will have a 5 or 6 DOF arm build with Dynamixel or HerculeX smart servos. I need to move the gripper along Cartesian trajectory, which I will calculate in my C++ application. I looked at ROS, but ...
1k views

### Line following robot path planning

I have built a mobile robot with several ultrasonic sensors to detect obstacles and an infrared sensor to track a line as a path. I have written a simple algorithm to follow the line which works fine, ...
331 views

### Optimal-time acceleration sequence of a line-following robot following a moving obstacle

Say we have a line-following robot that has a moving obstacle in front, that is a one-dimensional problem. The moving obstacle is defined by its initial state and a sequence of (longitudinal) ...
211 views

### Why the name “combinatorial”?

Why are 'cell decomposition' methods in motion planning given the name, "combinatorial" motion planning?
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 ...
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 ...
785 views

### Determine the configuration space for a robotic arm

I'm working with a 4DOF Parallel-Mechanism arm. I'm interested in writing planners for this arm (PRM or RRT) in the configuration space, but I'm not sure how to identify obstacles/collisions. When ...
202 views

### Question about dynamic window approach?

I have a my mobile robot and plan to use the dynamic window approach to collision avoidance. I have read the paper ,but have one inequality i can't derive it. could you tell me? thanks!
16k views

### What is the difference between motion planning and trajectory generation?

What are the major differences between motion planning and trajectory generation in robotics? Can the terms be used interchangeably?
516 views

### Robot Navigation Feedback using Image Processing

In my project, I've successfully analyzed the arena and have detected the obstacles using an overhead webcam. I also have computed the shortest path. The path data is transmitted to the robot via ...
1k views

### State space and control space

I would like to know the difference between state space and control space in relation to motion planning. I would like a simpler explanation.
2k views

### Difference between kinematic, dynamic and differential constraints

I would like to know the simple difference between kinematic, dynamic and differential constraints in robotic motion planning.
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?
3k views

### redundant arm path planning and trajectory following

I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow. How do I deal with the redundancy in the arm when planning to follow these trajectories both ...
170 views

### Simulator for an adaptive, under-actuated robotic gripper

I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally ...
43 views

### Seamless motor movement

With the lego NXT Mindstorm kit I would like to have a rotating carousel that has "perfect" movement. This carousel has baskets and therefore it has quite a bit of inertia. I would like to find a ...
43 views

### Survey for Local Navigation [closed]

I was wondering if there was a good book or paper that surveys current techniques in local navigation? The earliest one I could find was from 2005 and I was hoping to find something more recent. I ...
638 views

### how to plot a line between two centroids in matlab

I am able to locate centroids of each blocks, but i am unable to join two blocks with a line segment by avoiding the obstacle as shown in the figure. Please need help how do i achieve this using ...
543 views

### Exoskeleton Drive System Help [closed]

I am currently working on an exoskeleton. The exoskeleton is going to help kids with cerebral palsy learn to walk 4 years sooner than traditional therapy. Currently we are using 2 Ame 226-3003 with ...