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 ...
mactro's user avatar
  • 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 ...
50k4's user avatar
  • 6,662
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. ...
Tully's user avatar
  • 25k
4 votes
Accepted

Solving a grid maze with blocked paths

You didn't specify any performance requirement. That admits the simple algorithm: ...
r-bryan's user avatar
  • 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 ...
Greenonline's user avatar
  • 1,528
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 ...
al-dev's user avatar
  • 331
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 ...
combo's user avatar
  • 450
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 ...
kamek's user avatar
  • 1,000
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 ...
Chuck's user avatar
  • 16.1k
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's user avatar
  • 5,855
3 votes

Is Fuzzy logic applicable for robotics research

Fuzzy logic is definitely used in many of the control systems including but not limited to robotics. See this paper for an example: https://pdfs.semanticscholar.org/b9a7/...
Muthanna A. Alwahash's user avatar
3 votes
Accepted

Is Fuzzy logic applicable for robotics research

I would like to mention that Fuzzy logic is still an active control system used in many industry applications. In garbage fired power plants, concrete aggregate firing, hydraulics, and the control ...
DrMrstheMonarch's user avatar
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 ...
Brandon J. DeHart's user avatar
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 ...
SteveO's user avatar
  • 4,386
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 ...
Anh Dũng Bùi's user avatar
2 votes
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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 ...
Bending Unit 22's user avatar
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
Jakob's user avatar
  • 3,054
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 ...
Ugo Pattacini's user avatar
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's user avatar
  • 5,855
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 ...
50k4's user avatar
  • 6,662
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 ...
50k4's user avatar
  • 6,662
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 ...
combo's user avatar
  • 450
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 ...
hauptmech's user avatar
  • 4,425
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). ...
hauptmech's user avatar
  • 4,425
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 ...
csg's user avatar
  • 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 ...
surtur's user avatar
  • 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 (...
Chuck's user avatar
  • 16.1k
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 ...
SteveO's user avatar
  • 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 ...
GENIVI-LEARNER's user avatar
2 votes

Is Fuzzy logic applicable for robotics research

Short answer: Fuzzy logic (FL) isn't applicable for robotics research, The long answer is, that in the 1980s as part of the fifth computer generation fuzzy logic was researched in Japan with the ...
Manuel Rodriguez's user avatar

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