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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22 views

ICP(Iterative Closest Point) with Partially Overlapping Conditions & Changing Point Numbers

I am currently working on fixing vehicle odometry data using lidar contour points. Since I am receiving lidar data in the form of countour points, I thought I'd use ICP to correct the odometry error ...
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problem in understanding this part of the RRTx path finding algorithm

this is a paragraph from the paper of the RRTx algorithm and below it a figure referenced in the paragraph however the No and Nr nodes types are unclear to me what are they exactly ?
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Path planning priors in dynamic enviroments

What are the general path priors used when planning in a dynamic environment with people/cars/other robots? Suppose you don't have a global view of the environment, only a local view around the ...
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1answer
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Path finding: A* vs Fast marching

Context: I am working on a 20 cm x 20 cm indoor robot on a 2D terrain and I need to decide on its path planning algorithm. Algorithms: A* and Fast marching are two popular (and fundamentally ...
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1answer
69 views

Applications of Reinforcement Learning

Many global-control applications of robotics involve incomplete world information and at best can be represented as a POMDP. Given this, can we really apply RL to most robotics applications? From ...
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discrete control in continuous spaces

I asked this question on AI stack exchange but didn't get a response. Basically I'm interested in how you deal with inherent error between your ideal discrete state and your actual state in control ...
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Problem with solution (equation) for wrist singularity

In my textbook about industrial robots it says that if the angle q5 in this robot is equal to 0, there are infinite solutions for the angles q4 and q6. I understand this part, but I have a problem ...
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1answer
28 views

How to deal with a joint suddenly having to make a large change in angle during linear interpolation?

After having set up the inverse kinematics for each intermediate point on a line that the tcp is supposed to travel, I encountered a problem that stops the tcp when it is supposed to travel along the ...
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How can a linear interpolated path be traversed without stopping at intermediate points?

Is spline-interpolation used for this? And why is the orientation interpolated
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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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2answers
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What Software Is Used For Autonomy Software Simulation?

I don't have a physical robot but I would like to test the performance of my C++ code for odometry, SLAM, and path planning. Are there any good simulation software where I can test my algorithm ...
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Why in trajectory planning in joint space the manipulator never crosses a singularity?

I am studying robotics kinematics and I have studied that if we plan a trajectory in joint space it is impossible for the robot manipulator to cross a singularity during its motion, while in cartesian ...
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Collaboration of mobile robot and survaillance camera - classic localization (still) needed?

Just started with the topic of mobile robotics.. so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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How To Do path planning To move the Robotic Arm in straight line in 3D where the arm is having base, Shoulder, Elbow & wrist? [closed]

Now the design we have has the 4 DOF (Base, Shoulder, Elbow, Wrist), there is no problem in moving the arm in a curved manner but the main problem arises in straight-line motion. I'm unable to fid=nd ...
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path planning by means of geometric map

I'm having trouble understanding how to use geometric map in path planning task using algorithms like potential field or elastic band which I always see use occupancy grid. By geometric map I mean a ...
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43 views

What's a good move-to-pose algorithm for a treaded robot?

What is a good algorithm for moving from pose A to pose B in a world frame, for a treaded (tank-like) robot? I have been using the move-to-pose algorithm for a bicycle model, described in section 4.2....
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How to use artificial potential function in manipulator path planning?

The artificial potential method always takes robot as a point, if the manipulator is 6 degrees of freedom, how to use this method in path planning while six links can avoid the collision.
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Construct Configuration-Space with Obstacles for arbitrary Object/Robot in Motion Planning

I found that a configuration-space approach is a elegant way to describe problems in motion planning. However, I was not able to find a known general way to construct configuration-spaces. By general ...
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167 views

Motion Planning vs. Control

Often I see positions for robotics companies split into planning and controls engineers. But motion planning and controls seem to have a lot of overlap. As I understand in motion planning the ...
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171 views

How to implement path planning algorithm considering orientation?

I am developing GUI c++ program to test path planning algorithms: A*, Dijkstra, ....etc in occupancy grid map. I found many open source codes , but I need to modify them to design a GUI for testing ...
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Trajectory tolerance limits

I have a trajectory planner, which calculates the trajectory assuming that the robot is following the planned trajectory. From sensors I get the position of the robot, which has an offset from the ...
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1answer
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Facial Detection combined with Path Planning using Kinect Sensor

I am planning to use a Kinect Sensor on a mobile robot for path planning based on facial detection. Assuming I am able to detect the faces of 5 individuals in a room (both the environment and the ...
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Path planning for a unicycle

I am having some troubles understanding a concept regarding the path planning for a unicycle. Suppose I want to plan a path that brings a unicycle from the origin to the point $\begin{pmatrix} 1\\ 1\\...
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In path planning, what kind of path is feasible for a nonholonomic robot?

For a car-like nonholonomic robot, What kind of path is feasible? Is it right that a path is feasible for a car-like robot if it's curvature continuous, and the curvature on any point doesn't exceed ...
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How does it get a bizarre term in triangle law of vector equation in a paper

I am reading the paper "Motion control of wheeled mobile robots" at page 5, as we have the equation (34.7), i wonder how it contains $− dc(s)\dot s$ in side. As the triangle law of vector: $\vec{OP}=...
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A* alogorithm Path Planning in ROS

Can anyone help me out on how to do A* path planning in ROS. I went through a lot of resources, but most of them are using a 2d graph? I just want to know the process or workflow.
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Path planning or 2D Mapping

i want to collect some ideas about this video. https://www.youtube.com/watch?v=q-ZDB8xqI7M Is the Left Vacuum cleaner using some 2D Mapping or OpenCV to navigate through the room ? Or is it just a ...
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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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Potential field algorithm implementation

I'm studying robotics at the university and as a practice, I have to implement potential field in the simulator (I'm going to use ROS and Gazebo). I'm having troubles about how to implement it, ...
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1answer
61 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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What are the differences between trajectory planning, trajectory tracking, path planning, path following and motion planning?

What are the differences between trajectory planning, trajectory tracking, path planning, path following and motion planning? And what are the basic methods they use?
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69 views

Iterative calculation of trajectory

In the answer https://robotics.stackexchange.com/a/7512/22953 there is an example for trapetzoid trajectory planning that results in the following table. \begin{array} {|r|r|} \hline time &...
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Is there a Java or mathematical algorithm for Pure Path Pursuit?

I was building a robot which I wanted to have smooth consistent motions and pathways. I am somewhat familiar with Pure Path Pursuit and wanted to know if someone could point me towards a mathematical ...
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Difference between Single-Query and Multiple Query Algorithms?

I am spending a lot of time in understanding these two concepts, because in several papers that I read, they define them differently, and I do not know exactly what is the meaning of the two different ...
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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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Path Planning for Spherical Wrist (RRR)

I have found the inverse kinematics of a spherical wrist. The wrist is not attached to any other type of arm, it is the sole controller. Based on this IK solution, how can I generate a path plan for ...
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1answer
49 views

Representation of 2D coordinate space with orientation

I wanted to know what is the mathematical representation of 2D coordinate space with orientation in the same plane. 2D coordinate space is represented as $R^{2}$, how do I include orientation in the ...
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2answers
275 views

Libraries to simulate path planning in a dynamic environment for a 2D space

I need to simulate a path planning approach for a 2D space where the obstacles are moving. Initially, I need to implement probabilistic road map, D* lite, A* and Bug2 algorithm. The robot needs to be ...
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1answer
245 views

Arm path planning with obstacle avoidance in Unity

My application is not specifically in Robotics, but the problem that I'm trying to solve seems to have been studied primarily from the viewpoint of Robotics, so I am hoping to get an answer here. ...
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2answers
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What is the difference between Obstacle Avoidance and Dynamic Path Planning?

I always assumed that obstacle avoidance refers to general prevention of collisions with any kind of obstacles, even without considering a goal for the decision how to execute an avoidance maneuver. ...
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1answer
245 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
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Path planning of wheeled robot [duplicate]

let's say the robot Looks like this (an usual robot arm with 4 wheels) : In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position ...
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1answer
33 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
162 views

A* search results in path too close to obstacles

I have a configuration space as below with several obstacles. Green circles are all the points I need to go to. Blue line is the path returned from A* search. However, I am looking for path that's ...
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3answers
102 views

How to calculate shortest path between multiple pick and drop destinations

I have a scenario where I have multiple robots, and they have to pick and drop some items at specified locations as shown in Figure. There are 4 jobs to be done for this particular instance. How can ...
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Create path with minimum curvature for Ackerman drive

I'm trying to create a trajectory between two given poses for an Ackerman drive. The poses are defined as follows: Current Pose position $(x_0, y_0)$ rotation on z-axis $\theta_0$ Final Pose ...
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1answer
58 views

Is it possible for a CC-turn trajectory to not touch the inner circle?

I'm currently struggling with understanding how a continuous-curve path can be constructed in a specific context: A vehicle is supposed to do an 180 degree turn at the end of an agricultural field. ...
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520 views

Path Planning code

I posted a question regarding robot path planning here now the question is mainly about the code and logic but still I shortly explain the initial situation. So I tried to change the code so that the ...
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119 views

Move robot to a goal avoiding u-shaped obstacle

I have to develop an algorithm using reactive paradigm and potential fields to avoid an obstacle like this one: My robot can go inside the U, and it has to know how to go out. The problem is that ...
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1answer
37 views

Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...