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 do you rotate positions from ENU-frame to body frame?

If positions are in the local frame of ENU (or ECEF - either works), how do you rotate that to the body frame of the device? Logically, I thought that I could use the pitch, roll, and yaw angles of ...
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Suggestion for path following algorithm for mecanum wheeled mobile robot

I have a robot with four Mecanum wheels. I want to make robot follow different paths. The path information is given in x,y coordinates. I want to start from simplest controller i.e. open loop type as ...
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Difference between odometry and localization wrt determining robot's pose?

AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
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Mapping IMU readings from body frame to navigation frame

I'm trying to combine IMU displacements with the time of flight sensor readings in order to navigate through the indoor environment with a non-linear Kalman filter variant. In the graphic below, I ...
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2 votes
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Monocular SLAM position estimation

I have been reading about mono SLAM and I have a couple questions which are not so clear: When doing pose estimation, I have seen people both reference homography transformation and also reference 5\...
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How to calculate the covariance and gain in SLAM when only one measurement is available?

I am trying to perform SLAM for cases where only one sensor measurement is available. For example, suppose I want to track the position of a robot moving in a room with multiple known landmarks (2D ...
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what are the main steps to build a swarm robots system and train it to achieve foraging task using deep Q network

I studied reinforcement learning deeper and prepared myself to use Webots, and when I decided to build a swarm robots system and drive it by deep_Q_networks I feel too confused how can I begin and is ...
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Find a mistake in transformation between different coordinate frames in the WIP-calibration pipeline

I design the extrinsics calibration pipeline for the robotic agents, carrying onboard two sensors of different modalities. I aim to calibrate one of them (S) ...
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Is VIO a good solution for autonomous drone navigation at higher altiutues (200+ms)?

When it comes in indoor scenarios, VIOs may provide good performance, but when it comes to outdoor environments and high altitudes without proper GPS coverage/stability, are current VIOs capable of ...
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World and Map Frame for a real robot

I am trying to develop a robot for mapping purposes. Currently, I have a Velodyne VLP16 lidar and an IMU. I am having a bit of a confusion in stating the transforms of the system. For the lidar and ...
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Invalid <param> tag: Cannot load command parameter [robot_description]:

I am using the waypoint_nav package. When I launched the file named outdoor_waypoint_nav_sim.launch, I got the following error: ...
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Holonomic constraints on an upright wheel

A wheel moving in free space has the six degrees of freedom of a rigid body. If we constrain it to be upright on a plane and to roll without slipping, how many holonomic and nonholonomic constraints ...
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Determine road curvature radius using non GPS sensors

I’m trying to solve for the “curvature” of a road, and wondering if this can be done with a standard mobile phone. If I have a mobile phone fixed onto my vehicles windscreen, using only standard ...
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1 answer
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Searching for object in an unknown environment using ROS

Using ROS, I'm trying to build a robot able to search for specific objects in an unknown environment. Right now, I'm experimenting with a mobile robot in a simple gazebo maze, using a LIDAR for ...
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How do you convert the covariance matrix of a 3D rotation error-state to the covariance matrix of the corresponding quaternion?

I'd like to convert the covariance matrix of an error-state Kalman Filter that uses Euler angles to the corresponding covariance matrix of a quaternion state. I basically use this for standard INS-...
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Count number of collisions while navigating to goal

I have the navigation stack working in ROS Kinetic on my computer. In Stage ROS simulations, I can specify the goal and the robot navigates to it. I need to count the number of collisions (if any) ...
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Proper implementation of `pure_pursuit` for ground robots using waypoints

I am trying to understand and implement pure-pursuit waypoint following in 2D map. My questions are: 1. What exactly do I need to record in my waypoint.csv file? To ...
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What is a general definition for pseudo-measurement (e.g., zero-velocity update as often used in robotics)?

I understand what a pseudo-measurement, but I am curious if there is a formal definition of the pseudo-measurement. A pseudo-measurement is sort of a constraint on the states of a system, which can be ...
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Can a state lattice planner be used purely as a local planner?

I've been reading a bit about state lattice motion planning recently. The question I would like to ask is if a lattice-based motion planning system can be used purely as a local planner without a ...
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How to abstract go to goal angle?

I'm currently developing a pygame based go to goal behavior. I approached the goal by Euclidean distance and vectorized mathematics. Here is the code ...
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Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
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Frozen map + 'Message filter dropping' - Issues with mapping and navigation in ROS2 Foxy

sorry for the long post, just want to make sure i include all the details. I am working on learning ROS2 by building a robot which maps and navigates my apartment. I'm using the RPLidar A1 sensor ...
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Convert ECEF Velocity to NED Velocity

My GNSS modules gives me one NMEA packet with ECEF velocity. My doubt is about how i convert these 3 vectors to NED frame. Can i use the conventional matrix rotation MathWorksRef. If yes, i use the ...
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Displaying a GPS Route (By Waypoints) on Mission Planner with Dronekit

Hope you are all doing well. I am working on a navigation project right now. According to a starting and goal location, I use Open Route Service to create a GPS Route. I have the coordinates (lateral ...
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Rviz Status Error in Costmap: Update area outside original area

“update area outside of original map area” is the error I get when visualising the topic /move_base/global_costmap/costmap. The cost map displays correctly, there is nothing on google or the docs to ...
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What is the difference between a Bayes Net and a Factor Graph

I am just getting started on understanding Factor Graphs, by going through the excellent guide Factor Graph For Robot Perception by Dallaert and Kaess While I am familiar with the SLAM problem, and ...
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1 answer
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Underwater navigation without the use of acoustic sensors

I have been reading about different types of underwater navigation. According to this Youtube video, these are the following navigation systems: Inertial navigation systems (use of Inertial ...
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Hector_navigaton on ROS Melodic error

I'm a newbie on robotics, and currently, I'm working on a project to make an autonomous robot that can mapping the surrounding environment and decide the shortest route towards the goal while avoiding ...
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1 answer
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How to use SLAM generated map to navigate my robot to the destination?

I am trying to understand various SLAM algorithms. In my case, I need my robot to start from point A and reach point B with maximum accuracy as well as precision for all the cases. Note that, as the ...
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ROS Navigation stack with Omni-wheel robot

I have worked through navigation stack on diff-drive, I'm wondering how to get the stack running on 4 wheeled Omni-wheel robot equipped with Arduino and how to get odometry from 4 wheel encoders It ...
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How to use data collect from lidar to generate a 2d map with

I'm new to robotics and I'm using ros noetic with the package rp_lidar. I want to use the data collected from my a1m8 slamteck lidar and generate a 2d map for my rover to navigate and avoid collision. ...
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Is the covariance matrix in the extended Kalman filter guaranteed to be positive definite (ignoring numerical errors)?

I understand that due to numerical errors (e.g., round off error and machine precision) that the covariance matrix may not be positive definite, but if computers had infinite precision, is the ...
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1 vote
1 answer
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How do robots move parallel to a wall/line?

I have been studying robotics by myself, lately. I noticed that there are various mapping, localization methods (popularly under SLAM), but are there concepts relating to the robot moving in a ...
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2 votes
1 answer
102 views

What flight firmware stack is most common in aerial robotics research environments?

I'm considering Aero-Astro grad school and am looking into acquiring a drone hardware platform to implement GNC/ PNT/ autonomy papers like those I might see from, e.g., the Navigation and Autonomous ...
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1 vote
1 answer
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How does a Tesla or any self-driving car self-drive to a remote place and align itself to an object?

I am trying to understand the technology/procedure related to one of the trivial functions of a modern self-driving cars. Let us consider the example of Tesla's Model S (or any). The car is parked at ...
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1 vote
4 answers
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irobot create 2: random changes in driving speed

I am trying to make the Create2 dance a specific choreography. I´m not using the sensors, I just let it drive and turn for a specific amount of time. In general it works fine. But after working with ...
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Survey path planning for UAV with high turning radius

I want to perform rectangular area survey. The sensor can either work with very narrow FOV or with wide FOV but requiring very high overlap. My plane's turn diameter is much greater than required ...
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1 vote
0 answers
219 views

What is the definition of the phrase "ego robot"?

What does the phrase "ego robot" mean? I see it used in the context of multi robot systems like in the paper Game Theoretic Motion Planning for Multi-robot Racing by Zijian Wang, Riccardo Spica & ...
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1 vote
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Hint regarding Localization & Map Scaling

I just started with mobile robotics. I'm trying to do a collaborative system between a mobile robot and a ceiling camera (Raspberry). They should do all tasks as a "team". Means Calibration, ...
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Path-following algorithm and suggestions for mecanum robot

I have a robot with four mecanum wheels (blue square) that can move in an open-space room. The position x,y of the robot is measured in a very accurate way by a fixed position sensor (red circle) that ...
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1 vote
1 answer
148 views

How many landmark measurements to localize a planar robot?

How many landmark measurements are required to localize a robot (i.e. find its x,y position and orientation) moving in a 2D world using 1. only range measurements 2. range plus bearing measurements?
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4 votes
3 answers
143 views

Is SLAM done only first time in a given environment

I am training Turtlebot 2 to move around the office. I come from robotics hardware background but relatively new to computer vision and robotic mapping. Here are my two fundamental questions related ...
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Are there solid state directional sensors available?

I have no problem building little robots which are more or less self driving RC cars. Now I want them to be aware of and interact with each other. In simulations they all know the position of all ...
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3 votes
1 answer
258 views

how to use ROS navigation stack with 4 wheeled robots

I have a 4 wheeled toy car, with 5 motors, one on each wheel and one is used for steering. How can I use ROS navigation stack with this robot since navigation stack is used with differential drive ...
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2 votes
0 answers
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VFH/VFH+ Axis Orientation & Sensor Angles

I have been struggling with trying to get the VFH+ implementation working correctly using Orca-Robotics implementation which seems to be the same implementation used in the ROS package and MATLAB and ...
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3 answers
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Localize a Mobile Robot on a Mirror

I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
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2 answers
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SLAM and navigation

I have a question about SLAM. Is it common for SLAM to be used for mere map generation? For instance, have a map generated using ORB-SLAM and then freeze the map for future path planning where future ...
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2 votes
1 answer
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ORB-SLAM pose estimation

I've been reading about ORB-SLAM and ORB-SLAM2, but I can't quite figure out how pose estimation is done. I see that it uses a bag-of-word method for loop detection, but how are current features ...
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3 votes
2 answers
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Do self-driving robots use object-level SLAM?

How do self-driving bots usually deal with transient objects, e.g., parked cars on the side of roads when they can come and go? These aren't moving objects at the time of capture, but they do move at ...
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3 votes
2 answers
449 views

How come LIDAR is not commonly used for indoor navigation?

I'm reading this survey on the state-of-the-art techniques for indoor positioning and navigation. I noticed that LIDAR isn't mentioned at all in the paper. Is LIDAR not meant to be a common method for ...
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