# 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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### 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 ...
44 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 ...
182 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, ...
103 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 ...
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### 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?
105 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 &...
259 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 ...
3k 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 ...
44 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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### 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 ...
80 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 ...
359 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 ...
529 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. ...
407 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. ...
507 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,...
94 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 ...
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 ...
204 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 ...
174 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 ...
53 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 ...
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### Is it possible for a CC-turn trajectory to not touch the inner circle?

I'm currently struggling with understanding how a continuous-curve path can be constructed in a specific context: A vehicle is supposed to do an 180 degree turn at the end of an agricultural field. ...
700 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 ...
146 views

### Move robot to a goal avoiding u-shaped obstacle

I have to develop an algorithm using reactive paradigm and potential fields to avoid an obstacle like this one: My robot can go inside the U, and it has to know how to go out. The problem is that ...
41 views

### Converging to better solutions by running RRTstar for multiple Iterations

In the Literature I have read so far, I saw RRT star was running in multiple loops to converge to a better solution ( near optimal). I was wondering how I could implement the same, as most pseudocodes ...
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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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### 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 ...
694 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, ...
191 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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### 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 ...
829 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 ...
59 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 ...
672 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. ...
224 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 ...
694 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 ...
419 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,...
495 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 ...
193 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 ...
334 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 ...
49 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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### 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 ...
182 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, ...
529 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,...