# 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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### 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) ?
8k views

### Is configuration space same as joint space?

For robotic manipulator like the one on the picture: are the configuration space and joint space equivalent? I am trying to understand difference between the two...
471 views

### Monte-Carlo Localization

I'm implementing Monte-Carlo localization for my robot that is given a map of the enviroment and its starting location and orientation. Mine approach is as follows: Uniformly create 500 particles ...
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 ...
2k views

### Choosing path planning and obstacle avoidance algorithm for 2D space

I am working on a 2D space where my robot needs to follow a trajectory while avoiding some obstacles. I've read recently about methods for path planning as "Vector Field Histogram" and the "Dynamic ...
267 views

### Optimal-time trajectory in 2D and 3D with simple constraints

I'm trying to find the optimal-time trajectory for an object (point mass) from point p0 with initial velocity v0 to point ...
370 views

### Help with adaptive fill algorithm for Water Color Painting Robot

TL;DR: Can anyone point me to a good adaptive path fill algorithm? Hey there, my name is James, and my daughter built an awesome painting robot with her friends over at Evil Mad Scientist labs, even ...
7k views

### Maze Solving Algorithm For Mazes With Loops

I am trying to implement a line following robot that can solve mazes similar to the Pololu robots you can watch on youtube. My problem is the maze that I am trying to solve is looped and therefore ...
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 ...
814 views

### Does RRT* guarantee asymptotic optimality for a minimum clearance cost metric?

The optimal sampling-based motion planning algorithm $\text{RRT}^*$ (described in this paper) has been shown to yield collision-free paths which converge to the optimal path as planning time increases....
2k views

### restricting range of motion with complex constraints

I am looking for a way to restrict a robot's range of motion, using complex constraints such as not tearing of a cable attached to the robot. Take an articulated 6-axis robot arm as shown below, with ...
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 ...
65 views

### Is there a list of maneuvers related to control of a tracked platform?

I have a platform with two tracks and two motors. Each one uses an electronic speed control with "double tap to reverse". Each ESC takes an input pulse train frequency from at 1500 neutral +/-700. I'...
199 views

### Which spline function would be best suited for the trajectory of a differential drive

What's the best kind of spline that can be used for generating trajectory that can be adapted during execution time? The use case is having a differential drive which has to move towards a point (x,y,...