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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2answers
191 views

A* search results in path too close to obstacles

I have a configuration space as below with several obstacles. Green circles are all the points I need to go to. Blue line is the path returned from A* search. However, I am looking for path that's ...
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3answers
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 ...
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2answers
402 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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2answers
756 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 ...
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3answers
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 ...
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2answers
236 views

Is there a Java or mathematical algorithm for Pure Path Pursuit?

I was building a robot which I wanted to have smooth consistent motions and pathways. I am somewhat familiar with Pure Path Pursuit and wanted to know if someone could point me towards a mathematical ...
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2answers
347 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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1answer
358 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
69 views

Asynchronous axes movement

if we have a robot with 5 DoF and we want to plan its movement. The inverse kinematic solver will do this job without a doubt. However, it is usually assumed that axes can be moved in a synchronized ...
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1answer
89 views

Given an initial position, a goal position and a duration find a trajectory

I have an initial position $X^R_{init}$ of the robot ($x$, $y$ and yaw) and a goal position $X^R_{goal}$ I need to create a trajectory of duration $T$ with $n$ waypoints to move the robot from its ...
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1answer
254 views

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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1answer
57 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 ...
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2answers
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 ...
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1answer
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?
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1answer
424 views

Canny's Roadmap Algorithm

Where can I find a general implementation of Canny's Roadmap Algorithm(or Silhouette Method) for Robot Motion Planning?
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2answers
50 views

How to investigate the relation between planning frequency and control response?

I have a speed control system which is part of a hierarchical planning and control stack. The final output of this system is torque and the input is desired speed. The system is experiencing some ...
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1answer
131 views

Path Planning algorithm

The broad question is this; given an occupancy grid and the robots current pose (x,y,theta,theta'(first derivative)) how should I plan motion for my robot with the following constraints: shortest ...
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1answer
112 views

RRT star Convergence

My Code gives the following convergence characteristics, I wanted to know if it is correct Updated code { ...
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1answer
205 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
200 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
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 ...
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0answers
31 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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2answers
645 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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0answers
169 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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0answers
394 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
56 views

Velocity-Control of a manipulator without a dynamic model

I have a five DoF robot. Each axis is connected to a cylinder. You can send PWM values to each cylinder and you are able to read out the position values of each cylinder which makes it possible to ...
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4answers
1k views

Automatic forward and reverse Brushless Motor

The video Here shows a motor using rotational motion to move a load forward and then reverse back, without manually switching it to reverse. How can I program my brushless motor to operate like the ...
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2answers
172 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 ...
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1answer
83 views

Applications of Reinforcement Learning

Many global-control applications of robotics involve incomplete world information and at best can be represented as a POMDP. Given this, can we really apply RL to most robotics applications? From ...
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1answer
181 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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2answers
66 views

motion model for forward movement

I thought this is a simple and well known problem and therefore there is a lot of literature. But I'm not able to find the correct keywords to google the answer. Maybe instead of answering the whole ...
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1answer
73 views

Trajectory following- What if the robot joint motor are not able to keep up with the generated trajectory?

I want my robot manipulator to follow a user-defined path. Based on the waypoints given as input and the velocity and acceleration limits of the joint motors, I generate a trajectory. At every time ...
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1answer
676 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
479 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
67 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
28 views

Where do I start learning from for motion planning underactuated robotics?

I am an undergraduate student approaching my final year. I have a final year project which involves planning a trajectory for an underactuated robot that also avoids obstacles. So far I have come up ...
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1answer
51 views

How to estimate proper heading angle

I obtain the heading or yaw angle from a source which I am not allowed to modify, but when the angle goes more than +180 or -180, it interchanges either from 180 to -180 or the other way around. Any ...
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1answer
40 views

Moving Sofa Problem with the help of 'Potential Field Method' and 'Navigation Functions'

I would like to move a piano. Having a mathematical background, I was trying to figure out whether I can get it into the new apartment. In my research I stumbled upon the already explored "moving sofa ...
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1answer
83 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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2answers
71 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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1answer
57 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
172 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 ...
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0answers
16 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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1answer
175 views

Constrained Inverse Kinematics velocity calculation via Jacobian

I am trying to implement inverse kinematics for a robot arm with 5DOF within Unity. The robot arm is supposed to depict the mechanical, hydraulic driven cylinder arm of a heavy machine such as ...
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0answers
40 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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1answer
31 views

How to formulate the equation and environment equations for motion planning algorithm use? [closed]

How to formulate the equation and environment equations for motion planning algorithm use? And if know the desired state, how to use motion planning to fill the data to reach this desired state?
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0answers
33 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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0answers
46 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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0answers
52 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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0answers
772 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. ...