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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29 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 ...
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10 views

What are cases where bug1 algorithm would be bug2?

I have been reading Principles of Robot Motion Theory, Algorithms and Implementations by Choset et al and I can't seem to understand how bug1 would beat bug2. It is harder for me to see given that ...
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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 $...
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Trajectory optimization using Direct Collocation

Are there books or resources that make use of Direct Collocation for obstacle avoidance? So far I have been only been able to find out how to implement Direct Collocation and nothing related to ...
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31 views

Initial Solution Dynamic Optimization

Community, For mobile robot-trajectory planning i use dynamic optimization for a system with nonholonomic constraints and dynamics together with a cost function. This works somewhat well, howewer the ...
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1answer
30 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 ...
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19 views

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 ...
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2answers
50 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?
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21 views

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 ...
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34 views

Potential FIeld Calculation

We have to implement an algorithm for potential field path planning. I have implemented so far everything for this formula: ...
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34 views

novelty of LQR-RRT* at an article

I am reviewing this article: LQR-RRT∗: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics ,Alejandro Perez, Robert Platt Jr., George Konidaris, Leslie Kaelbling and ...
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looking for an online map pgm repository

I am currently writing a path planner. I wanted to test the planner for various scenarios. I was wondering if there is a repository wherein I can find a number of pgm (+yaml) map files. I came across ...
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37 views

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 ...
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Fuzzy Path Planning for an Unknown Environment

I have a problem to programming on Matlab the path planning fuzzy in an unknown environment I am using a fuzzy toolbox for fuzzy rule How to do obstacle avoid by Matlab demo program How to reach the ...
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1answer
72 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 ...
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1answer
40 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 ...
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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. ...
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45 views

Rviz Status Error in Costmap: Update area outside original area

“update area outside of original map area” is the error I get when visualising the topic /move_base/global_costmap/costmap. The cost map displays correctly, there is nothing on google or the docs to ...
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Quadrotor Smooth Trajectory optimization

I'm currently following a course on coursera on quadrotors, and i'm currently focusing on the trajectory planning mechanism. In the course, it's said that one of the criterias when planning a ...
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Ground based path generation from RGBD camera

How does one generate a trajectory for a ground vehicle using an RGBD camera? For a drone it's simpler since you're not constrained by having to move on the ground but it's not clear to me how ...
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1answer
33 views

How to find mathematical model of a wheeled robot (to compute robot's trajectory at given time steps) including its kinematic

I would like to learn, how to find proper kinematic model of robot in mathematical form. For example: I would like to create a model of a car, from which I could compute its position and rotation at ...
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1answer
55 views

Path planning using nodes

I want to run my bot over a map that has nodes and I am just stuck about how to begin the path planning, I literally searched over the internet and found so many algorithms Like A* , Dijkstra's, etc. ...
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15 views

.How to draw obstacles in c-space for my 2DOF scara robot?

I want to use A* algorithm for my robot path planning in c-space. But now I want to map the obstacles from cartesian-space to configuration space. I am building a visualizer in python to see all the ...
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29 views

Robot movement between point A and B with fixed angle and step length

I am working on a robotic path finding problem for my personal project and I am stuck on how to get from point A to point B. Please note that this is a visual robot, as I am looking to implement it ...
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75 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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1answer
44 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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1answer
42 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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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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1answer
214 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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1answer
91 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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1answer
100 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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1answer
86 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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46 views

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
34 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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2answers
149 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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2answers
104 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
191 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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2answers
81 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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1answer
50 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
21 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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1answer
36 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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2answers
1k 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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3answers
624 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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0answers
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 ...
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2answers
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 ...
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2answers
128 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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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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1answer
127 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
38 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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1answer
151 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, ...