Questions tagged [path-planning]

path planning is the strategy to find a path towards a goal location being optimal or not

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Is it possible to use Nav2 Low Level Controllers without a map?

I am currently building a car-like robot and wrote a simple pure-pursuit controller. I found that Nav2 has a really nice implementation of it. Since my robot does not compute an occupancy grid, but ...
multiplex's user avatar
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I am building a path planning and obstacle avoidance bot using ros, lidar, etc . Can someone please provide a python program to implement?

I am building a robot to perform path planning using djikstra algorithm and obstacle avoidance using gaussian potential field. The robot uses raspberry Pi 4 with ubuntu 20.04 os containing gazebo, ros ...
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Why is the C- Space topology for a 2R robot a torus?

Currently doing a course on robotics - skip to 1:12 in the video below where Kevin Lynch describes the C-Space topology of a 2R robot to be a torus. Why did he rotate the circle for joint 1 to be ...
Stockfish's user avatar
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Rigorous terminology clarification - Path Planning, Path Following, Trajectory Planning, Trajectory Following and Motion Planning

I am asking this after having gone through quite a bit of literature and hope that it's not a repeat question. I would like to know proper mathematical notion that clearly defines a Path and a ...
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ROS/ROS2 mapping and path following with skid-steering robot and Velodyne 3D laser

I built a skid-steering robot and I would like to implement a path-following application. I would like to use the Velodyne to create the map and then specify a path on it to be followed by the robot. ...
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Lateral control for autonomous vehicles

I am working on autonomous vehicle control, i used the kinematic bicycle model, For the speed reference I used a speed profile not a constant speed(given below [![speed][1]][1] for the steering angle ...
Asmaa GZ's user avatar
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Creating a new planner in OMPL using Python

I am using OMPL in order to create a new planner using OMPL. The documentation gives only a short description of how to do so: ...
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Ros2 robot won't move sideways with dwb or mppi controllers

I am unable to get the mppi or dwb controllers to move in the Y direction. If I set a goal that is close to the current position parallel to the current robot heading, the robot will shimmy back and ...
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RViz2 Show Trail not working

I'm going through the MoveIt Quickstart in RViz guide and am trying to replicate Step 4: Use Motion Planning with the Kinova Gen 3. When following the instructions of un-checking the Show Trail box, ...
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Customize SLERP used in MoveIt motion planning

I am currently working on a project utilizing ROS Noetic and MoveIt for robotic arm path planning. I have a robot arm that has to pick up items from between shelves on its left and right side. However,...
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Motion of omnidirectional robot in 2D with constant heading, which nav stack planner to use?

I am trying to make simple navigation example in ROS noetic of an omnidirectional robot (e.g. clearparth's ridgeback). My goal is to always maintain the orientation of the robot wrt the /map frame ...
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Articulated Kinematics

I'm currently engaged in developing the lattice generator for the state lattice planner in Nav2. The motivation is to integrate articulated vehicles, which are characterized by 4 state variables, as ...
Ravi Kumar's user avatar
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switching between local planner in ROS2

I am wondering will if be possible in ROS2 to have 2 different local planners and be able to switch between them. For example, I want to use both pure-pursuit planner and DWA planner. Let's say that I ...
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Nav2 Behaviour Tree dies with custom planner (ROSIDLCPP_StringValueType error)

I am using Nav2 to build a custom planner based on a path of GPS coordinates which are transformed into cartesian coordinates. When I start the navigation stack and send my GPS points via a service ...
IceSpice's user avatar
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Smoother not working with NavThroughPoses (ros2 humble)

I have the following behavior tree: ...
Pantelis Manouselis's user avatar
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How to use Dubins to complete a continuous-curvature path for Ackermann vehicle with Boustrophedon line segments as input?

Has anyone out there, who has worked with Ackermann steering vehicles, crafted a continuous-curvature path planning approach that uses the Python library Dubins shortest path to connect end points of ...
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Best Robot for Simulation

Can you guys suggest me a Robot with 6 or 7 degree of Freedom which works well with Ros Humble for my Thesis. It will be only on a simulated environment.
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How to do custom path planning for autonomous navigation in ROS?

My autonomous navigation can work on my current map, but now I want to do a simple custom path planning, together with some actions, such as: taking a snapshot using the camera stopping turning the ...
arquitecto's user avatar
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Preempt global planner or give higher priority to FollowPath server

I have created a c++ executable whose purpose is to generate Poses based on the coordinates provided by the user. More specifically, the user provides a number of points in cartesian coordinates (e.g.,...
Pantelis Manouselis's user avatar
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Cartesian Planning Issue

I recently performed camera and robot-robot calibration and, I wanted to validate the results with the touch test method. So I retrieved a particular point on the ChArUco board and wrote a node that ...
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How can I create a path for the robot to go along the wall during autonomous navigation?

I am developing a robot using ROS (Robot Operating System). The goal is to enable the robot to navigate a closed environment, approaching all walls to scan the surroundings. I have a map of the ...
Hüseyin Kılıç's user avatar
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Smoother both in global planner and independent

I was wondering what is the reasoning behind having both a smoother server (e.g., a constrained smoother) and defining a smoother in the planner server. Shouldn't ...
Pantelis Manouselis's user avatar
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Optimizing Swerve Drive Robot Performance for Real-world Implementation with MPPI Controller

We are currently developing a swerve drive robot utilizing the MPPI controller, but we're encountering challenges in transitioning from simulation to real-world operation. To provide context on the ...
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How to make the Navigation Stack global Path not update?

I am currently using the navigation stack to move around the robots in the map I created, in gazebo. I would like to apply my own algorithm for the update of the path. But in order this to happen, the ...
Michalis's user avatar
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Post-Processing and Execution of Paths from Sampling-Based Planning: Refinement, Shortcutting, and Real-World Dynamics

I've been diving into sampling-based approaches for path planning, such as RRT (Rapidly-exploring Random Trees) and PRM (Probabilistic Roadmaps), along with their extensions. While I understand the ...
TechEnthusiast's user avatar
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Create path constraints and dump as a .sqlite file in MoveIt

I am trying to define path constraints in the "MotionPlanning" window on Moveit using RViz in ROS Iron. Using panda_test_db.sqlite, I connected to the database successfully. I could see the ...
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Customize Smac State Lattice Planner

This question is related to the issue Dynamical footprint in Nav2. I am currently trying to get a wheel-loader to drive autonomously indoor. Unfortunately , it differs from the supported kinematic ...
Ravi Kumar's user avatar
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Navigate through waypoints without stopping and shortcutting

I have experimented with NavThroughPoses, but I'm encountering challenges in narrow corridor navigation scenarios, eg. poses: [p1, p2, p3, p2, p1]. My goal is to ensure the robot visits all these ...
Łukasz's user avatar
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custom motion model for smac & mppi

I'm employing the Smac Hybrid-A* Planner along with the Model Predictive Path Integral Controller for point-to-point navigation of a forklift, both indoors and outdoors. Notably, this forklift ...
Ravi's user avatar
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GPS+Navigation2 : Issues navigating with an empty map after success with a pre-built map: "Received plan with zero length"

I've been working on a project using the Navigation2 stack to navigate a robot through GPS waypoints. When using a pre-built map, the robot successfully navigates to all waypoints. However, I ...
Marcus Vinicius's user avatar
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Can TEB or Other Local Planners Work Without move_base?

I am working on path planning and path tracking for a while and I wonder, can TEB local planner (or any other local planner on ROS, DWA lets say) function without move_base? I mean do I have to use ...
Alperen Keser's user avatar
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How to avoid collision of 2 robot arms in real world (padding between robots)? ROS2/Moveit2

I recently submitted a question regarding how to apply padding to a robot arm in general using ROS2/MoveIt2 and learned that one can define a 'default_robot_padding' parameter within the '...
manadaniel's user avatar
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How to add padding to a robot using ROS2/MoveIt2?

I am trying to find a way to add padding to the robot to avoid unwanted collisions caused by low control precision. Optimally I could either set a uniform padding of e.g. 5 cm or - even better - ...
manadaniel's user avatar
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Mapping for maze solving robot [closed]

I'm trying to implement a program to find the shortest path for a maze solving robot competition but I can't understand how to do the mapping. I tried Breadth first Search algorithm that takes in a 2D ...
Miriam Mathew's user avatar
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How to Path correction in ROS1

When controlling robot movement using angular velocity and linear velocity, deviations from the expected path often occur due to external factors,for example To make a wheeled robot move in a circular ...
benson's user avatar
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Steer to a pose for a differential drive robot

I am working on a diff-drive robot that needs to go and dock into a docking station to charge when the battery is low. The charging socket is on the back of the robot, like a vacuum cleaner, so this ...
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Path and trajectory planning for a holonomic drivetrain with non zero starting velocities

What path planning algorithms are typically used for holonomic drivetrains that can avoid collisions while also starting with non zero velocities. I am working on a project where I am planning to have ...
Henry Mahnke's user avatar
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Combining Multiple Sensor Data for Costmap Generation in NAV2

I am currently developing an off-road navigation system using NAV2 and various sensing modalities. Our setup includes two 3D Velodyne Lidars and a 2D SICK Lidar, each mounted at different orientations ...
Marcus Vinicius's user avatar
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UAV simulation of obstacle avoidance in Gazebo?

I would like to simulate some 3D path planning capabilities of an UAV in Gazebo. So Firstly, I download a point cloud of an outdoor area with obstacles. I can find any in internet.Than Load the point ...
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Path planning without move_base - just using aruco_tag relative pose

I am trying to calculate a trajectory based on the information I have: aruco_tag relative position and orientation (relative to camera_link of my robot) I don't want to use any information from /map ...
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Why are GA applied for mobile robot path planning

I try to understand why most researchers are using GA for mobile robot path planning. In the Paper Path Planning for the Mobile Robot: A Review it shows its the most used. In the paper A Review of ...
phiStackOverFlow's user avatar
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Setting start and end headings during Pure Pursuit path generation

I've recently been looking into the Pure Pursuit algorithm, and have found this post from FRC Team 1712 which has a great explanation on how to implement it. However, a part that confused me was the ...
Ayush Garg's user avatar
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3D path planning for coverage of a given surface

I have a 3D model of a complex object. I have been able to generate all possible points that are around 1 m away from the surface of any part of the object, so the collision is not possible: Now my ...
Ekci's user avatar
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How to translate a joint configuration

I'm currently working on a basic implementation of the RRT algorithm to control my 6DOF robotic arm. But how can I reduce the node to be in the radius of the nearest node of my graph without using the ...
Justin M's user avatar
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Mission planning vs path planning vs motion planning

I am struggling to understand the difference between mission planning, path planning, and motion planning. This answer on stack exchange clarified the difference between path planning and motion ...
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How to do path planning using only a fixed number of points?

I have a vehicle with cameras to detect different colored cones. I want to generate a drivable path based on the location of the detected cones.The number of detected cones varies, as it depends on ...
user27771's user avatar
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Robot increases in length, trying to keep robotic along previous position trajectory

Sorry for the confusing title, this seems to be a difficult problem to concisely describe. I am working on a 50-DOF (yes, 50) robot that is comprised of "elbow macaroni" links that rotate ...
Mark's user avatar
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Mobile Bot Maze Solving

I am using ROS melodic on ubuntu 18.04 I have a simple 2 wheeled mobile bot, with a lidar attached to it. It is kept at the entrance of a maze (any maze). The bot has to "solve" the maze, i....
satan 29's user avatar
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How to sync motor speeds when doing path planning for a robotic arm?

I am trying to sync the speeds of all motors in a 5 axis robotic arm. By sync I mean determining the speed for each movement so that all axes finish their movement at the same time. The problem I am ...
Anton Avstreih's user avatar
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Minimize Waypoints Why Still Maintaining Distance From Objects for Motion Planning?

I'm working on a project where I want to give instruction to blindfolded participants on how to walk around an obstacle course. I'll map out my room and convert it to a grid map. However, given that I ...
itisyeetimetoday's user avatar