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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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 ...
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Smoother not working with NavThroughPoses (ros2 humble)

I have the following behavior tree: ...
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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 ...
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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 ...
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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 Leal De Carval'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 Leal De Carval'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 ...
Bob9710's user avatar
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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 ...
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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
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Spiral path generation to cover a 2D area

In my project, a robotic arm with an end effector of radius R needs to cover a 2D area in an optimal route (least time, smooth path). I am trying to achieve that by generating spiral covering routes. ...
karl online's user avatar
2 votes
1 answer
296 views

Solving a grid maze with blocked paths

I have to build two robots (virtual) that will solve a grid maze that has blocked paths colored in red. The robots cannot go on these red paths in any case. There are several white patches in some ...
leahnanno's user avatar
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Trajectory following of 3-wheel omnidirectional robot

I created a three-wheeled omnidirectional robot on omni-wheels, there is also a program in which I can plot a trajectory when plotting a trajectory, such data are obtained (X, Y, Tangent X, Tangent Y, ...
Flex1sh's user avatar
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131 views

After planning a path, how do I ensure the robot is following the planned path?

After planning a path using a path-planning algorithm, e.g. RRT* or A* how do I ensure the physical robot is actually following the planned path? After doing some research, I've come across Craig ...
whatdaheck's user avatar
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Pure Pursuit controller slow response for long look ahead

The pure pursuit calculates the steering angle based on that equation: $$\delta = \tan^{-1}\left(\frac{2L\cdot \sin(\alpha)}{ld}\right)$$ Where $L$ is the wheelbase, $\alpha$ is the target angle, and $...
nrofis's user avatar
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Where do I start learning from for motion planning underactuated robotics?

I am an undergraduate student approaching my final year. I have a final year project which involves planning a trajectory for an underactuated robot that also avoids obstacles. So far I have come up ...
Hari's user avatar
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unable to integrate local planner plugin into move_base

I am trying to integrate my local path planner plugin into move_base. On launching the modified ...
skpro19's user avatar
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2 answers
166 views

Does RRT perform graph search?

The basic RRT explores the space by sampling and if the goal is connected to the tree, the solution is returned. Can you define retrieving the path as a graph search?
Michael K.'s user avatar
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Navigation with obstacle avoidance without precise velocity measurement [closed]

I'm working on autonomous navigation and obstacle avoidance using a few small, education-purpose differential drive robots. The robot's motor can be programmatically controlled via PWM but the robot ...
J Chris Li's user avatar
1 vote
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66 views

Potential FIeld Calculation

We have to implement an algorithm for potential field path planning. I have implemented so far everything for this formula: ...
Alex's user avatar
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Robotic arm object/item pile relocation?

I am somewhat new to robotics. As such, I might be unaware of the correct terms or lingo that I need to use. I am trying to find relevant information on autonomous robotic arm operations specifically ...
Equaltrace's user avatar
3 votes
1 answer
430 views

Compute Maximum End Effector Velocity Along Path

Let's say I have a 2-link planar robot arm. The motors in both joints have maximum angular speeds that limit how fast they can spin. If I plan a path from point A to point B with a constant end ...
Jacob G's user avatar
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