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

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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0answers
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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0answers
50 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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0answers
20 views

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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27 views

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
46 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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3answers
2k 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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0answers
74 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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2answers
453 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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1answer
223 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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2answers
154 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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2answers
142 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 ...
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2answers
197 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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2answers
632 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
51 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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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
37 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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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
964 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
42 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
355 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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1answer
491 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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1answer
632 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
609 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
189 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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30 views

Trajectory following of 3-wheel omnidirectional robot

I created a three-wheeled omnidirectional robot on omni-wheels, there is also a program in which I can plot a trajectory when plotting a trajectory, such data are obtained (X, Y, Tangent X, Tangent Y, ...
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2answers
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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11 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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9 views

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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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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13 views

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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17 views

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
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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30 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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1answer
44 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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30 views

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
96 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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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
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
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
131 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
92 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
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 ...