6
votes
Accepted
calculating position based on accelerometer data
You're trying to do numeric integration, which takes the form:
$$
\mbox{integrated value } +=\mbox{derivative} * \mbox{elapsed time}
$$
What you have instead of ...
- 16k
5
votes
image processing
Ball detection using vision is not extremely difficult, especially if the ball is easy to recognize. There are a lot of tutorials and blogs which give a detailed explanation on how to implement an ...
- 260
4
votes
Accepted
Which trajectory planning algorithm for minimizing jerk
This might not be the right answer for your problem, but it may give you some idea how you might solve this problem: At the company, I'm working for, we have lot of issues concerning jerk and ...
- 1,657
4
votes
Obstacle Avoidance while Navigating
I think that vector field histogram method should be a good solution here. It's a method of local motion planning (avoiding local obstacles while navigating to a global target). It involves mapping ...
- 953
4
votes
Matlab Inverse Kinematics 6 DOF
Ideal solution can be defined in many ways.
The simplest way to choose one is to compare which of the 8 solutions is closest to your current pose in joint space. This is usually a good idea if you ...
- 6,652
4
votes
Accepted
Does a stable library exist for docking robots using images?
There's a lot of solutions out there already for this. I'll start by suggesting AR tags not QR tags. They're better optimized for localizing.
The Alvar library is commonly used for tracking AR tags.
...
- 24.7k
4
votes
Accepted
Solving a grid maze with blocked paths
You didn't specify any performance requirement. That admits the simple algorithm:
...
- 1,271
3
votes
Accepted
Meaning of s_last in D star Lite algorithm
$s_{last}$ does change.
Looking at the pseudo code, $s_{last}$ is updated upon each iteration of the while loop in main(), in ...
- 1,437
3
votes
Path planning for visual servoing
I would recommend using an RRT or FMT sampling based path planner. The basic idea is to sample your state space and build a tree which connects your starting state to the goal state. Each time you ...
- 440
3
votes
Accepted
Suitable D star variant is for non-holonomic motion planning of mobile robots
A brief overview of some of these variants:
A* A variant Dijkstra's algorithm that maintains a heuristic distance to the goal to first explore parts of the graph that are more likely closer to the ...
- 980
3
votes
RRT algorithm in C++
The OMPL library has some good quality implementations of several sampling-based motion planners, as listed here :
http://ompl.kavrakilab.org/planners.html
In particular, you can find several ...
- 331
3
votes
Helicopter Stabilization Algorithm
Stabilization of a helicopter and a quadrotor are similar tasks - have a reference signal, compare that to feedback, then act on the difference.
A quad rotor has four motors, and the helicopter ...
- 16k
3
votes
List of books similar to Thrun's Probabilistic Robotics for robot mechanics and manipulation
This is my go-to book for all things manipulation. But it covers some other topics as well.
Robotics: Modelling, Planning and Control by Bruno Siciliano, Lorenzo Sciavicco, Luigi Villani, Giuseppe ...
Ben♦
- 5,825
3
votes
Accepted
Articulated Body Algorithm with gear ratio
In Featherstone's book "Rigid Body Dynamics Algorithms", there is a section of Chapter 9 (specifically, 9.6) dedicated to explaining how to incorporate gears into a given dynamic model.
At a ...
2
votes
What algorithm should I implement to program a room cleaning robot?
I'm not sure if you still need it, but for those who happened to google for this thread, I have made one simple version of the algorithm.
Basically, it tries to build the map of the area while it ...
- 21
2
votes
Accepted
Reference request: Path accuracy algorithm in the joint angle space
The forward kinematics of the manipulator will correctly identify the larger displacements of the end effector for small rotations of the proximal joints, as opposed to the smaller displacements of ...
- 4,386
2
votes
RRT algorithm in C++
The first hit on GitHub gives me the following implementation, which is what you seem to be looking for.
https://github.com/RoboJackets/rrt
- 3,034
2
votes
PID tuning with methods like GA and PSO
GA and PSO methods are generally and more simply executed on a model of the plant you want to tune your PID for, not on the physical system. This way, you can of course converge much faster toward the ...
- 3,995
2
votes
Accepted
ComputeShortestPath() in Dstar lite algorithm
The first relevant line is line 6:
$$U.Insert(s_{goal}, [h(s_{start}, s_{goal});0]);$$
Basically speaking, this is an association of the goal to some vector with two values in it. Now $U$ looks like ...
- 1,425
2
votes
How can I implement tremaux algo in arduino line follower to navigate and create map?
I would highly recommend using the encoders over estimating travel distance by rpm + time. Estimating motor velocity is notoriously tricky. Especially at slow speeds.
A direct measurement is ...
Ben♦
- 5,825
2
votes
PID for variable Setpoint
As a general answer:
Yes, PID controller use variable setpoints, in fact, this is what makes them usefull, that you can always change the setpoint of your system (regardless of this varis slowly or ...
- 6,652
2
votes
Accepted
Prediction of Ready to Use Robotic Control Cards Codes
What you are trying to do is to identify a system. Since you kind of know what to expect, your system is not black box, it is grey box or white box.
There is a lot of theory on how to identify these ...
- 6,652
2
votes
Self learning robotics algoritm: feedback needed
What you are describing seems a lot like reinforcement learning, and yes, it works well for this sort of scenario. It is a popular enough approach that you should be able to find starter code in ...
- 440
2
votes
Accepted
What is exact model of haptic interface system in the paper "Time-Domain Passivity Control of Haptic Interfaces"?
It's usually best to contact the author directly if you have a specific question about a specific paper.
The simulations are there only to illustrate the principal of the passivity observer and ...
- 4,385
2
votes
Multicopter: What are Euler angles used for?
Your own equations make a lot of assumptions about the problem you are trying to solve. They are sufficient to solve your problem, but will not work for certain conditions (z = 0 for instance).
...
- 4,385
2
votes
Why does the Denavit-Hartenberg representation fail to capture the length of the last link in my model?
Note that in your drawing theta_p and theta_d angle are negative according to the right hand rule. That's the first mistake you made, to elaborate, theta_1 is equal to -theta_p.
Also in the last row ...
- 244
2
votes
How often does a robot perform A* (A star) path planning in an unknown map?
There is a dynamic version of A* (or of Dijkstra's algorithm) that was developed to address exactly this problem of trying to do planning on a map as you discover it. It is called D* or occasionally ...
- 324
2
votes
Accepted
Relation between GraphSLAM and Iterative closest Point algorithm
Iterative closest point is a method to fuse two point clouds together. If Robot A drove around town and gathered some data, then Robot B drove around town and gathered some data, ICP would (...
- 16k
2
votes
How to calculate shortest path between multiple pick and drop destinations
Side note: If there are multiple objects at A and C, so the robots continue circulating to move the objects cyclically, then ABCD and CDAB are the same paths. In either case (single objects at A ...
- 4,386
2
votes
Multiple robots performing a set of tasks (Optimization)
Try looking to Linear Integer Programming LIP where you are doing optimization by maximizing task allocation or Utility function at the same time minimizing distance and energy constraints. You will ...
- 135
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