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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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21 views

Robot trajectory generation; path-paramerization

I have a differential drive robot, and it's supposed to drive on a parabolic function $(f(x) = x^2)$. But for all control algorithms, you have a trajectory given as $f(s)$ or $f(t)$. I want to use ...
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16 views

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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1answer
36 views

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 ...
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1answer
23 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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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
36 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
75 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
42 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
74 views

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
46 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
59 views

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
29 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
104 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
63 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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0answers
29 views

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
38 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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2answers
301 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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2answers
72 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
31 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 ...
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1answer
44 views

Graph slam augmentation of Identity Matrix

I am trying to implement GraphSlam. I go through this paper http://robots.stanford.edu/papers/thrun.graphslam.pdf. I have some doubt about the algorithm. I attached a picture with this question My ...
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0answers
43 views

Strategy for 3D path planning over large distances with kinodynamic constraints

I was hoping to pick your brains about a problem that even after much reading has left me baffled. My Application: For the sake of simulating underwater scenarios in very large environments (up to ...
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2answers
204 views

How can I get the right sample in RRT star Dubins?

I am trying to find a solution in S(1)*R^2 (x,y, orientation) with obstacles (refer to image) using RRT star and Dubins Model. The code takes a lot of time to find a suitable random sample with x,y, ...
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1answer
86 views

How to increase the payload for the KUKA arm with KR210 claw?

https://github.com/udacity/RoboND-Kinematics-Project We are using the above mentioned KUKA arm model to simulate pick and place. We noticed that KUKA arm would not pick objects heavier than 2.5 kg in ...
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2answers
52 views

Is a small time locally controllable system holonomic?

If you define a wheel that can only rotate and move in the direction it is pointing to but using a combination of motions (arbitrarily short) it can be moved sideways, does the system still remain ...
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2answers
201 views

Understanding MoveIt! and OMPL more deeply

I wanted to know the actual mathematics behind the path planners MoveIt! uses for manipulators from OMPL. I tried to look into source codes but couldn't get enough details. I wish to know: How cost ...
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1answer
37 views

Methods for state estimation and real-time path planning of a mobile robot

I'm looking to start a project that incorporates some form of state estimation and path planning for a simple simulated robot dynamic model, in an environment that contains obstacles. I'm hoping to ...
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1answer
230 views

How to plan path for robotic arm with RRT?

I have written simple RRT planner however I am not sure how to apply it to a robotic arm path planning. The issue is that of analytical solution absence to inverse kinematics problem. Let me explain. ...
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2answers
101 views

How often does a robot perform A* (A star) path planning in an unknown map?

I have read through lectures/ tutorials on A* but they have all been via computer simulations. I have an autonomous wheeled robot that is traversing an unknown map (essentially, it'll be a tabletop ...
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2answers
177 views

Can the A* Algorithm be implemented on an Arduino easily?

I am not very experienced in working with C++. Working with Python is much more easier for me because of the large number of built-in mathematical functions present such as multidimensional array ...
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2answers
191 views

Motion planning from a given path

Many articles reference algorithms such as A*, PRM or RRT based planners to motion planning algorithms which seems unreasonable since it is still necessary to parametrize found path with time.I wonder,...
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1answer
151 views

Generate a coverage path given a polygon region

I'm making an app which controls a drone (DJI) and takes photos. In one particular feature, the user can draw a polygon (let's keep it a convex quadrilateral for now) and the app should generate a ...
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1answer
112 views

Optimal-Time Trajectory Planning in 1D

I have been searching for a solution to the mentioned above problem, but nothing was accurate enough. I am trying to find the optimal-time trajectory for an object from initial point A to final point ...
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1answer
125 views

Configuration space of rotating link

I have only recently started reading Steve LaValle's book on motion planning. It mentions that a rotating link with a fixed pivot has a configuration space of a unit circle. Since the configuration ...
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0answers
24 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
62 views

Is there a formal name for translating poses into robot states?

I've been working on a module that takes in planar poses $\begin{bmatrix} x_{t_{k}} & y_{t_{k}} & \theta_{t_{k}}\end{bmatrix}^{T}$ and spits out expected robot states $\begin{bmatrix} x_{t_{...
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2answers
100 views

Computationally efficient way to represent joint C space for a multi-robot RRT

I am working on writing code for a coordinated multi-robot rapidly exploring random tree (RRT) based planner, which would naturally involve a lot of sampling, nearest neighbor searching and 'radius' ...
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1answer
216 views

Do the distance function and steering function in an RRT have to be related?

I am developing an RRT (rapidly exploring random tree) for car-like robots in SE2 space using Dubins steering function and have a question that has implications on the performance of RRTs. In order ...
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1answer
222 views

Is MoveIt! suitable for fixed-wing aircraft path planning and obstacle avoidance?

I have seen that it is possible to use MoveIt! for path planning and obstacle avoidance for quadcopters/quadrotors. For example: https://www.youtube.com/watch?v=NRzeQD_Etog https://www.youtube.com/...
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1answer
120 views

What is the difference between conventional and unconventional path planning methods?

Is there an exact definition for conventional and unconventional path planning methods? What are the features that help distinguish conventional and unconventional path planning methods? What is an ...
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2answers
64 views

How to compute a path from a Frame A to a Frame B

the problem I have is the following (see picture below), I am able to compute a starting frame $F_S (X_S, Y_S, Z_S)$, an ending frame $F_E (X_E, Y_E, Z_E)$ and a path from $F_S$ to $F_T$ and what I ...
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2answers
321 views

How path following works analytically for way points?

First of all sorry for the confusing question title. I am also confused about the concept. I have implemented a quadcopter and its controller. Controller finds the rotor speeds based on the position ...
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0answers
135 views

Simple inertial 2d path planning library for arduino

I have a pretty simple 2d manipulator which uses an arduino to control a payload weighing about 2kg. I want to implement a simple 2d path planner which takes as input: Current position, velocity, ...
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1answer
284 views

How to Visualize a real robot's movements on a map?

I am working on obstacle avoidance and path planning in robotics using X80SV robot. The obstacle avoidance module of the robot works well. The programming language I have used in this work is C#. Next,...
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0answers
310 views

Are there any open source path planning libraries that implement Voronoi diagram techniques?

I've been looking into path planning for a non-holonomic robot with 3 DOF in a 2D plane and recently learned about Voronoi diagrams but I cannot find any open source planning libraries that use this ...
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1answer
52 views

Need clarification on potential fields for robotics

I am taking a course on AI robotics from a computer science department but my background is in mechanical engineering. I am having some difficulty with ambiguous terminology in virtual potential ...
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1answer
160 views

Using the Create2 Tethered Driving program- inputting a string of keyboard presses

I'm attempting to do a quick and dirty autonomous path with the create2. I'm using the tethered driving program seen here. I set my own buttons just to make it rotate 90° and go forward one "pulse". ...
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1answer
132 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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2answers
285 views

Path planning of 2 arm 4dof Robot

I am working on path planning for a 2 arm 4dof (2 dof for each arm) robot. I am currently using a centralised planning methodology (considering the multi robot system as a single one with higher dof, ...
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1answer
379 views

VFH (Vector Field Histogram+): Obtaining the Primary Polar Histogram

Good day Note: I have found out that my code works. I have placed a minor explanation to be further expounded. I have been having trouble obtaining the right directional output from my ...