# 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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### 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 ...
398 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,...
162 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 ...
667 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 ...
300 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 ...
103 views

### 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 ...
357 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. ...
759 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 ...
139 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....
69 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 ...
387 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, ...
434 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,...
170 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' ...
36 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 (...
191 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 ...
185 views

### 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 ...
248 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 ...
451 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 ...
77 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 ...
598 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 ...
95 views

### 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 ...
125 views

### 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 ...
35 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 ...
74 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 ...
58 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 ...
222 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 ...
64 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 ...
36 views

### Difference between Denavit-Hartenberg and Rodrigues formulas/conventions

I am trying to compute the forward kinematics for a 6 DOF robot arm. I've found two methods : the Denavit-Hartenberg (original and modified) and the product of exponentials with the Rodrigues formula. ...
71 views

### 2D inverse kinematics with orientation constraints (especially at start and target) for path planning

(this is a cross post from https://stackoverflow.com/q/64393373/2682209 as I didn't know the robotics community before.) I'm trying to use some inverse kinematics algorithm to perform a path planning ...
39 views

### 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 ...
45 views

### 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 ...
42 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 ...
62 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 ...
656 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, ...
178 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, ...
396 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 ...
84 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 ...
92 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 &...
74 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 ...
184 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 ...
282 views

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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, ...
94 views

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 ...
512 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,...
677 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 ...
29 views

### 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 ...
39 views

### Path planning for robot car on grid

I am currently doing a project as my hobby. I am trying to simulate a robot car in a grid arena. Below is the image of the arena: The start point of the car is the bottom-right corner(dark green ...