# Tag Info

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 ...
• 14.6k

### 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

### PD controller in C#

Your problem is not the P[I]D controller, but extracting control parameters from your system. A PID controller by itself is something like this (assuming a periodic control task): ...
• 3,210
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 ...
• 1,647

### 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

### 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 ...
• 6,322
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. ...
• 1,051
Accepted

### Solving a grid maze with blocked paths

You didn't specify any performance requirement. That admits the simple algorithm: ...
• 1,111

### 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 ...
• 14.6k

### 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 ...
• 5,215
Accepted

### What's an efficient way to visit every reachable space on a grid with unknown obstacles?

In the end, I found that the best way to do this was to employ a very simple concept: Flood Fill. I used a stack-based iterative approach instead of the recursive option, and modified it for physical ...
• 10.8k
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 ...
• 950

### 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 ...
• 321
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 ...
• 1,284

### 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 ...
• 415

### Detect road surface in a traffic scene point cloud

RANSAC is usually used to segment planes from the point cloud (see: http://www.pointclouds.org/documentation/tutorials/planar_segmentation.php). As an alternative, when you detect objects that are ...

### Is a Genetic alogorithm suitable for mobile robot path planning?

The short answer is no -- genetic algorithms are not good for path planning. The longer answer is that while a genetic algorithm is very likely capable of solving a path planning problem, it's a very ...
• 10.8k

### 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 ...

### How to combine an accelerometer and a gyroscope to find robot location and orientation in 2D/3D space

Here's a pretty good overview of what holmeski is saying, and using multiple sensors in general for different applications. FWIW DARPA is, and has been looking into inertial sensors with enough ...
• 328

### How to combine an accelerometer and a gyroscope to find robot location and orientation in 2D/3D space

Look into nonlinear filters, particularly the unscented kalman filter (ukf). Using a ukf to fuse the data from a gyroscope and accelerometer will allow you to estimate orientation. However, these two ...
• 1,825

### biped walking using Genetic Algorithm

If you're only trying to walk forward the fitness function could be the distance covered by the biped. If you're also trying to control the heading, you could define a slightly more complex function ...
• 478
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 ...
• 4,326

### 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 ...
• 3,490

### 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
• 2,954
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 ...
• 1,385

### 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 ...
• 5,215

### 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 ...
• 6,322
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 ...
• 6,322