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

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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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34 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
46 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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32 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
48 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
52 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
30 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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10 views

Deciding to turn left or right based on graph path

I'm designing a line following robot that can navigate to different points in a map that can be represented by graph theory. I have implemented a dijkstra algorithm, which provide the correct path to ...
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1answer
61 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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1answer
46 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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67 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
109 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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30 views

How can I make robot follow a particular feature in the image?

I would like to make my robot follow a path that I draw on an image using my mouse. I could use visual servoing to make it follow a particular object or feature? but how can I go about it. My idea is ...
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1answer
83 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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35 views

Issue with rrt running in & 3D environment modeled with ocotmap

What I am working on is the following (see pics below): I am using the hector quadrotor simulator to navigate in an unknown environment. Then I am building a 3D model of the environment with Octomap....
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1answer
79 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
86 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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21 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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FCL (Flexible CollisionLibrary) how to force unknow cells to occupied cells?

The objective is to create map of the environment using a quadcopter but at a given point the quadcopter should be able to "go home" based on the current known environment. The quadcopter is using a ...
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2answers
60 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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26 views

Expressing a 3D viewpoint optimization (path planning) problem algorithmically

I am working on a path planning approach for multiple robots where their main goal is to move to positions that allow for significantly better vision based reconstruction of a given scene. Each robot ...
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2answers
86 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
106 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
158 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
82 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
58 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
248 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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91 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
174 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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248 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
48 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
150 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
126 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
234 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
291 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 ...