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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19 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 ...
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33 views

C space for R5 manipulator

Trying to create a collision avoidance model (RRT) for an RRRRR manipulator. I am unable to wrap my head around how to represent the same in configuration space. Anything upto 3 joint variables is ...
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25 views

Computing attractive and repulsive forces from gradient of Artificial Potential Functions for path-planning

I'm trying to design a controller for a path-planning robot using Artificial Potnetial Functions [Prof. Howie Choset, Page 6 and 9, $\nabla D(q)$] and had a question about calculating the gradients ...
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35 views

What is a cost and cost function in path planning?

Surfing through websites and videos, I interpreted that cost refers to parameters such as time taken to go from start position to the goal position or distance traveled in every possible path and cost ...
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3answers
246 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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1answer
66 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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1answer
146 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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Survey path planning for UAV with high turning radius

I want to perform rectangular area survey. The sensor can either work with very narrow FOV or with wide FOV but requiring very high overlap. My plane's turn diameter is much greater than required ...
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sampling-based path planning approach

I have been doing a project on robot path planning. A question has arisen in my mind during the project What are the state of the art sampling-based path planning schemes for the dynamic environment? ...
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1answer
32 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 ...
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1answer
65 views

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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29 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
70 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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1answer
49 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 ...
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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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2answers
68 views

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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1answer
89 views

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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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
33 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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29 views

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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2answers
64 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 ...
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2answers
147 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 ...
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1answer
19 views

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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32 views

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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1answer
26 views

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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30 views

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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68 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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2answers
288 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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34 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 ...
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2answers
89 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 ...
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39 views

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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2answers
171 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
57 views

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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1answer
57 views

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
23 views

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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2answers
1k 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 different ...
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1answer
68 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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2answers
70 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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1answer
465 views

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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1answer
31 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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2answers
297 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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0answers
60 views

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
56 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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1answer
296 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
227 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
287 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
77 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
34 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 ...