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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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
134 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
57 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
514 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
46 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
727 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
736 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
221 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
269 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 ...
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1answer
60 views

Papers on Algorithms in Robotics [closed]

I'm a CS student and I need to give a 30-minute lecture about 1-2 papers describing 1-2 algorithms for any of the main problems in Robotics (navigation, coverage, patrolling, etc.). I have no ...
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1answer
1k views

How to align solidworks global origin with assembly origin while exporting in solidworks to urdf

I have created a robot model in solidworks and exported in solidworks to urdf plug-in. When exporting the co-ordinates of the model is misaligned which is causing problem while using in ROS. As you ...
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0answers
626 views

Gazebo laser plug-in fails to publish scan results

I have added hokuyo laser plug-in to mu urdf file. I successfully launched the robot in gazebo and done required changes to visualize it in rviz. I didn't get any error but the laser scan results are ...
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1answer
781 views

Tf frame origin is offset from the actual base_link

I have built my differential drive mobile robot in solidworks and converted that to URDF file using soliworks2urdf converter. I successfully launched and robot and simulated with tele-operation node. ...
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2answers
317 views

Path following with precise positioning system (RTK) [closed]

Is there any general problem in using precise positioning (centimeter-accurate GNSS RTK system meant) for autonomous car guidance given I have a predefined path the car should follow? I mean, ...
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0answers
75 views

Accurate technique to locate position? [closed]

What is the most accurate way to locate the position and orientaion of the body during some motion (rotation and translation)? I need to track the body very precisely, the required accuracy is 100-...
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2answers
120 views

Create 2: Wheel interface board replacement

http://www.irobotweb.com/~/media/MainSite/PDFs/About/STEM/Create/Create_2_Wheel_Hack.pdf?la=en Scroll to page 3. I'm trying to interface the Roomba's preloaded navigation system with a pair of ...
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2answers
211 views

Weird magnetometer values

I bought a 3-axis magnetometer (Similar to this one ) And plugged into an Arduino in order to read the heading value. I mounted it on my robot and I drove with the robot for around 30 meters, turned ...
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1answer
397 views

Calculate robot heading to follow wall and avoid obstacles

I have a task that involves implementing robot behaviour that will follow wall and avoid obstacles along it's path. The robot must stay at desired distance from the wall but also stick to it so it ...
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1answer
730 views

Mobile Robot path reconstruction by using IMU acceleration and Yaw angle

I hope you can help me with my project. I'm using a skid-steering wheeled mobile robot for autonomous navigation and I'd like to find a way to be able to perform path reconstruction in Matlab. By ...
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1answer
764 views

Wall following using hokuyo lidar and sharp IR sensors

I have a mobile robot and I would like it to follow the walls of a room. I have: A map of the room. Wheel encoders for the odometry. A Kalman filter for fusing data from wheel encoders and IMU. A ...
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1answer
3k views

Robot path planning

My goal is to move robot in certain points as shown in the figure. It's initial position is (x0,y0) and move along other coordinates. I am able to track robot position using a camera which is ...
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1answer
2k views

Implementing a boustrophedon algorithm in a given room with obstacles

I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the data from ...
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1answer
191 views

Question about dynamic window approach?

I have a my mobile robot and plan to use the dynamic window approach to collision avoidance. I have read the paper ,but have one inequality i can't derive it. could you tell me? thanks!
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2answers
201 views

how to make a robot move using arduino other than timing to predefined locations?

how to make a robot move using arduino other than timing to predefined locations? and without the use of sensors?? I want to make my car move to different loactions on a board..want to know the ...
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2answers
2k views

Is it possible for a robot to navigate through predefined coordinates?

I am a total newbie in robotics so please bare with me. I have a school project where my team has to design a robot that is capable of picking up 3 golf balls in different sizes at predefined ...
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1answer
278 views

Is our laptop wifi single channel or multiple channel? This is for controlling a bot

We are building a hobby drone(Quad-coptor) with a camera for footage. So to control the quad, i have been suggested(Web,Here) to use minimum of four channels.For power and for turning etc., So which ...
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1answer
503 views

Robot Navigation Feedback using Image Processing

In my project, I've successfully analyzed the arena and have detected the obstacles using an overhead webcam. I also have computed the shortest path. The path data is transmitted to the robot via ...
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1answer
3k views

Ambiguous definition of Error-State (Indirect) Kalman Filter

I am confused by what precisely the term "Indirect Kalman Filter" or "Error-State Kalman Filter" means. The most plausible definition I found is in Maybeck's book [1]: As the name indicates, in ...
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2answers
490 views

Find Centre Of Circle, when robot can “see” a partial arc

I originally asked this here but I am struggling to take the concepts, particularly "Circumcenter", discussed there and apply it in my context. So here it is in my context... I have a small robot ...
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1answer
158 views

Good 3D simulator for outdoor autonomous navigation

What's an appropriate tool for simulating a car driving in a simple closed-loop racetrack? I'm trying to implement the control logic for an autonomous vehicle, and I'd like to be able to first ...
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2answers
299 views

What kind of lidar is necessary for SLAM?

I've read about various robots using a 2D lidar system for SLAM ( such as at IGCV, http://www.igvc.org/ ) but I'm wondering how good exactly does the sensor have to be? Specifically: What accuracy ...
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Survey for Local Navigation [closed]

I was wondering if there was a good book or paper that surveys current techniques in local navigation? The earliest one I could find was from 2005 and I was hoping to find something more recent. I ...
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7answers
6k views

What are some low cost alternatives for lidar? [closed]

It need not be as effective as lidar or it may have some disadvantages when compared with lidar. What are the probable alternatives? Edit: I'm intending to use it outdoors for navigation of ...
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1answer
72 views

Robot Loud Alarm

We are working on a project where we want to sound an alarm if somebody is messing around with our Robot (e.g., the Robot is being shaken abruptly or the cameras/LIDARs are blocked). I am using "loud ...
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3answers
306 views

Relative Navigation Systems

Im trying to develop a system that autonomously navigates a large outside space, where accuracy is vital (GPS is too inaccurate). There are a number of options but have largely been used inside, has ...
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2answers
441 views

Need to clear some concepts: AHRS - Attitude - Yaw,Pitch and Roll - MARG sensors -INS

it's been while since I started reading about INS, orientation and so for quadrotors . I faced the following terms : AHRS - Attitude - Yaw,Pitch and Roll - MARG sensors I know for example how to ...
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1answer
717 views

ROS NavStack with Skid Steering robots

I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in ...
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3answers
156 views

Is a Genetic alogorithm suitable for mobile robot path planning?

Regarding my project work, I have to write an algorithm for mobile robot planning. For that, I have chosen Genetic algorithm. Is it good for mobile robot path planning? If it is, then where can I ...
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2answers
574 views

how to plot a line between two centroids in matlab

I am able to locate centroids of each blocks, but i am unable to join two blocks with a line segment by avoiding the obstacle as shown in the figure. Please need help how do i achieve this using ...
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2answers
94 views

Velocity Control via Vibration

I am working on a robot that has an accelerometer. This accelerometer measures the vibration of the robot. When the robot hits a certain vibration, I would like it to slow down in order to reduce the ...
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1answer
477 views

2D Map representation of GPS coordinates in degrees

I want to implement my own GPS navigation for a quad-copter. I can calculate and filter the GPS coordinates (latitude and longitude in degrees). I believe the easiest approach for me would be, to ...
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1answer
969 views

Differential drive trajectory following control

I have a robot platform with differential drive which knows it's position and orientation. Lets say that the space through which the robot moves is known and it has only static obstacles. The task is ...
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4answers
13k views

Quadcopter Position Measurement (Accelerometer, GPS or Both)?

I previously thought that an accelerometer on a quadcopter is used to find the position by integrating the data got from it. After I read a lot and watched this Youtube video (specifically at time 23:...
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2answers
665 views

ComputerCraft (Minecraft mod) navigation: Collision avoidance and path planning/finding in 2D/3D space

I'm programming Lua for controlling computers and robots in-game in the Minecraft mod ComputerCraft. ComputerCraft has these robots called Turtles, that are able to move around in the grid based(?) ...
3
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1answer
498 views

Move ATRV robot to specific distance using ROS

Is there a node or package that can send commands to /cmd_vel to move ATRV-Jr like 2 meters forward or turn it 90 degree to right/left? I don't want to tell the ...
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0answers
117 views

What happened to Butler's car?

Having read the article "This Car Has Electric Brains" in Popular Mechanics, August 1958 I have some questions. How practical were his methods? Was his work acquired by a car manufacturer or some ...
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1answer
2k views

ROS AMCL does not need odometry data?

I'm reading amcl document on ROS Wiki. In its subscribed topics there is not odometry topic, why? It works only with laser? Subscribed Topics: (From ROS Wiki) scan (sensor_msgs/LaserScan) tf (tf/...
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2answers
164 views

Non-Vision Based Target Tracking

I am building 4-wheeled, knee-high robot with music and speakers on top that will follow a target person as the target moves around. I would like some help with the setup for tracking the target. The ...