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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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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70 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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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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25 views

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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Integrating Arduino Cloud Platform into ROS

I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
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55 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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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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2answers
54 views

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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2answers
48 views

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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46 views

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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48 views

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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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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Compute vector of attraction plus repulsion forces in a 2D force field mapping

I'm developing a force field mapping of a two-dimensional space to move a robot to a goal avoiding obstacles. My problem is that I don't know how to move it using attraction force and repulsion ...
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How to understand the coordinate systems of IMU outputs in the KITTI raw data?

I am learning how to use the raw data of the KITTI data set. The raw data means that KITTI provides its raw sensor outputs. I focus that the IMU raw outputs (accelerations and angular rates) are shown ...
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Is it possible to implement VSLAM on Arduino?

If not, then which microcontroller will be suitable?
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ROS packages for *pre-planned* path navigation rather than path generation? (Turtlebot3/ROS)

I am working on a project in which users will create paths fully constrained in terms of position (using a separate piece of software), and a robot will periodically follow those paths. We are using a ...
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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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27 views

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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1answer
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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
126 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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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
40 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
45 views

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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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
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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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29 views

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
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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
182 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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29 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
59 views

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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57 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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172 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
32 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
89 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
515 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
89 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
75 views

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
60 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
96 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
61 views

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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27 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
352 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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748 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
1k 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
48 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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644 views

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 ...