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Questions tagged [navigation]

Navigation is a field of study that focuses on the process of monitoring and controlling the movement of a craft or vehicle from one place to another. Robot navigation includes exploration, mapping, localization, path planning and path execution

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How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
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Particle filter with error states

I am new to particle filters and I have a particle filter based on this: $$x_{k+1} = f_{k}(x_{k},\omega_{k})$$ $$y_{k+1} = h_{k}(x_{k},v_{k})$$ $$x = [\delta \phi, \delta \theta, \delta \psi, \delta ...
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A Delivery Drone

I'm building a delivery drone as my final year project. A drone that can deliver a package to offices around my small town autonomously, for my final year project. I would like to know how this drone ...
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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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Integreation Method In Dr with 3 Sources

I'm searching a navigation method to find my location while dead reckogning (gps signals jammed) with an imu and gsm based navigation results. In short i have 3 sources: Gsm Based Navigation ( gives ...
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2answers
61 views

I have to implement my own SLAM algorithm [closed]

I'm studying robotics and one practice that I have to do is to implement my own SLAM system on ROS. I need some advice about where to start. Where do I start?
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24 views

Looking for Beginners Tutorials on Navigation Stack and SLAM with Gazebo

As an undergrad working with SLAM algorithms, I'm looking for a step-by-step introduction to ROS navigation stack and gazebo. I am thinking of creating a simple box with a horizontal LiDAR array ...
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1answer
26 views

What is Natural Navigation?

While going through this Page on different types of navigations used in AGV's for Industrial Environments. I came across natural navigation which claims to reduce installation time and cost for the ...
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RpLIDAR unable to see black objects

I am working on a ROSBOT for a natural navigation project. While working with RpLIDAR A2 version, I found that it does not sense thin black surfaces like black pants/trousers while at close range (...
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1answer
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Interfacing HMC5883l Compass with Arduino

I'm using an HMC5883l compass module to find the angle at which my module is pointed from magnetic North. I found this code as an example with "HMC5883L_Simple.h" library. And the results I'm getting ...
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1answer
21 views

Library for GPS

Is there any difference between "tinyGPS++.h","tinyGPS.h", and "Adafruit_GPS.h"? Can I use the same code to extract the current GPS location for all these libraries?
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1answer
52 views

Autonomous Navigation Bot [duplicate]

I'm trying to build an Autonomous parcel delivering rover using GPS.So after giving destination coordinates, I don't know how to make the robot understand to which direction it should move. Basically, ...
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Sensor complement in Drone

I saw a question posted by @Rocketmagnet (Why do I need a Kalman filter?) about the need for a Kalman filter. In that question, he says he's designing an UAV and lists the following sensors he will ...
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1answer
50 views

3D Direction Sensor - Question from a Neuroscientist

I'm posting here on the advice of r/diydrones, who said you're the people to ask. I'm hoping you might be able to help out with a problem i've come across in my research? I'm a Neuroscientist working ...
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1answer
45 views

Omni vs mecanum wheels for drawing robot

I'm designing a mobile robot which will have to draw some lines (straight and/or curly) on the floor while it moves. The floor will always be flat with almost no obstacles. The robot will have four ...
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1answer
25 views

Obstacle width measurement

On non-lidar equipped rovers, how is the width of an obstacle detected such that it can be avoided? If the ultrasonic sensors are used for obstacle detection, these sensors usually don't give data ...
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1answer
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How to accurately navigate from one GPS coordinate to another using just GPS & IMU? [duplicate]

I'm looking for ways to accurately navigate from one GPS location to another. I have a GPS sensor and an IMU. I can calculate the distance with the help of GPS I believe and with the help of ...
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2answers
42 views

How to get starting location of robot using IMU Sensor (without using gps)

i have one robot, i have to get the initial location of that robot. then when we move the robot from that location, and when we give the command like "HOME" then it should go that initial location. ...
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1answer
61 views

Difference between Collision Cone and Velocity Obstacle

I'm trying to understand these two classic approaches to path planning in dynamic environments/with moving obstacles. According to some review papers, there seems to be quite a difference between them,...
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1answer
29 views

how to find space in point cloud larger than given l*b

Is their any method by using which I can find a space or gap in given point cloud which has size greater than given rectangle of size $l*b$ or a circle of radius $r$? This way my robot can make a path ...
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2answers
72 views

Indoor GPS 3D for navigation

I'm looking Indoor GPS system for agriculture tasks in a greenhouse. I want to make an autonomous robot who can navigate by "GPS", I want the system to be 3D (x,y,z) and allowing the I can use robotic ...
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2answers
257 views

Mobile robot navigation without static map

I am working on an autonomous mobile robot based on ROS. All the tutorials and examples requires a static map which need to be generated in order to do the localization and mapping. Do i need to ...
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0answers
87 views

Position-Attitude Kalman filter with Quaternions

I want to design an EKF to estimate the position of a UAV. If I were doing this with Euler angles then I would have a state vector that would look like \begin{bmatrix}north&east&down&...
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1answer
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SVO edgelet computation

One of the nice contributions of SVO is that it has proposed a way to use 2d edge features in pose optimization by point-to-line constraint. But in the actual code, I could not find where it is ...
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1answer
51 views

Calculating covariance of parameter estimation from Hessian

I need a covariance of parameter estimation for reliability estimation. According to the this post, I know the approximation of the Hessian can be calculated as $$ \sigma^2 H^{-1} = C $$ where H is ...
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2answers
94 views

Delayed Kalman navigation based on two way ranges

I am interested to know the basic principle of the "Delayed KF" when considering an underwater robot aiming to localize it self using a LBL system. More practically, in order to calculate the ...
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1answer
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What is an “actuation state”

The paper A Feedforward Control Approach to the Local Navigation Problem for Autonomous Vehicles by Alonzo Kelly uses the term actuation space. Feedforward solves the historically significant ...
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Autonomous vessel general design

I have been asking a couple of questions here and around on autonomous boats and finally I decided to post the design and gather some feedback. The idea is to build a small vessel capable of advanced ...
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0answers
24 views

Robotic vessel navigation using GIS datasets

I am trying to build an autonomous vessel able to plan the best route to a certain waypoint or to follow a pre-defined route. Currently, I have imported Esri GIS files containing elevation data (...
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2answers
254 views

Holonomics Movement vs Holonomics Constraint

I'm reading Mechanics of Robotic Manipulation by Matthew T Mason and I stumbled upon the concept of kinematic constraints. The book mentioned about two types of constraints: holonomic and nonholonomic ...
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0answers
603 views

Controlling Pepper using ROS

I am trying to implement FastSLAM 1.0 and I am using sensory and control data acquired from Pepper via ROS to evaluate my implementation. However I am having major issues when I try and control Pepper'...
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2answers
780 views

How to move a robot to a point while avoiding obstacles?

I am trying to move a robot in a straight line from point A, to point B. The robot's primary sensor is a Hokuyo URG-04LX-UG01 LIDAR that gives me the magnitude and direction of each point it detects ...
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1answer
47 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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Is there an open source autonomous vehicle simulator with control over traffic? [closed]

As a part of my research work I'm supposed to build or use an existing autonomous vehicle simulator, in which I can also control the behaviour of the traffic in the system, I was searching on Google ...
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1answer
152 views

What is the intuitive explanation of using Jacobian of observation model while calculating Kalman gain in EKF SLAM?

The idea of using Kalman gain in EKF SLAM is to figure out how much we trust our motion model and sensor/observation model. As explained in The Extended Kalman Filter: An Interactive Tutorial for Non-...
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327 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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2answers
129 views

How quickly can a driverless vehicle generate control commands?

Can anyone give me a typical frequency that a driverless vehicle could generate steering and motor thrust commands? I am trying to model a driverless vehicle in MatLab. Right now the vehicle is ...
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1answer
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SLAM: Why use two cameras (stereo) if SLAM can be done using single camera (monocular)?

I am aware that algorithm for monocular SLAM is complex compared to stereo SLAM. But my question is if by any means it is possible to do SLAM using one camera why one should use two cameras to do the ...
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1answer
221 views

Autonomous boat obstacle avoidance

I am currently considering joining the MicroTransat challenge and develop an autonomous boat able to survive the harsh Ocean environment. However, as for security and to ensure the boat doesn't sink ...
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0answers
1k 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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1answer
133 views

How can we solve the problem of robot size in sensor based motion planning?

As you know in Bug algorithm there is a simplifying assumption that says the robot has no size and can fit between any arbitrarily small gap in the map. How can we overcome the challenge of robot size....
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1answer
2k views

Implementing pure pursuit problem in robot navigation? [closed]

I would like to implement pure pursuit waypoints navigation. we know that, look ahead distance=look ahead gain*vehicle forward velocity How can I calculate look ahead velocity gain/look ahead gain? ...
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1answer
55 views

Is it possible to detect road surface or navigation area using LRF data or other laser data in a Park?

I would like to detect road surface in a park. In the park, only small grass are covered with the both side of the road. That means there is road and the both side of the road are covered by small ...
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2answers
480 views

Differential GPS or Simple GPS for Robot navigation and odometry?

I am building a rover which can navigate autonomously. I do not want to use wheel encoders for generating robot odometry since it causes drifts due to slippage etc. I want to use GPS for generating ...
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1answer
45 views

Testbed for testing navigation algorithms

I'm looking for a testbed (simulator or web-based interface that lets me to have control on a robot) for testing different routing and navigation algorithms. Is there such a system on the web?
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1answer
687 views

Designing Ackerman's Steering Principle for an autonomous robot [closed]

I am working on a high speed autonomous robot (about 6-7 m/s), which does obstacle detection as well as senses traffic lights (I have used Raspberry Pi 3 and Arduino Uno). For the steering ...
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2answers
708 views

Mobile robot path following using Model Predictive Control (MPC)

I'am trying to implement a path following algorithm based on MPC (Model Predictive Control), found in this paper : Path Following Mobile Robot in the Presence of Velocity Constraints Principle: ...
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1answer
217 views

If I must fly my drone in bad weather, how can I maintain control of it in strong winds?

If I need to fly a drone in strong winds, how can I stabilize it? Should I use accelerometers and gyroscopes to keep it steady? Or should I just use some flight technique under such circumstances?
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2answers
266 views

Having a hard time understanding this equation in monocular EKF SLAM

Reading this paper on visual odometry, where they have used a bearing vector to parameterize the features. I am having a hard time understanding what the state propagation equation for the bearing ...
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1answer
1k views

Understanding Drift in Simultaneous Localization and Mapping (SLAM)

I am trying to understand the effect of drift in Simultaneous Localization and Mapping (SLAM). My understanding is that drift occurs because the robot tracks its position relative to a set of ...