28
votes
Accepted
What is the difference between path planning and motion planning?
Compare the following two images:
The path planning is somewhat trivial. There's only one path: the rope. The motion planning on the other hand is not that easy.
In a maze the path planning is hard ...
- 1,405
8
votes
Accepted
Difference between kinematic, dynamic and differential constraints
Kinematic constraints involves only constraint on the motion (kinematics means the study of motion without considering the force that causes it), which may involve configuration variables and their ...
- 376
8
votes
Motion Planning vs. Control
There is a saying in software engineering which states that your company structure is reflected in your software architecture (I cannot recall the exact phrase). This is true for a robot control ...
- 6,612
7
votes
Implementing a boustrophedon algorithm in a given room with obstacles
I implemented something like this in College:
https://github.com/Auburn-Automow/au_automow_common/tree/master/automow_planning
Basically we just passed the vertices of the boustrophedon path as ...
- 298
6
votes
What is the difference between path planning and motion planning?
What's the difference between turn-by-turn GPS and driving a car?
GPS is path planning: high-level commands like, "turn right in 1 mile."
Driving is motion planning, which means following a route ...
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6
votes
Accepted
rotation matrix to euler angles with gimbal lock
I think you may be misunderstanding the nature of gimbal lock. It sounds like you may be trying to remove an actual term in a rotation matrix calculation , but this is incorrect because each axis is ...
- 15.7k
5
votes
Accepted
Configuration space of rotating link
Since the configuration space is the set of all possible configurations the link can have, i.e. all possible angles from 0° to 360°, shouldn't the c-space be a line rather than a circle?
You are ...
- 1,819
5
votes
A* search results in path too close to obstacles
Obstacle padding/ robot padding.
Suppose you are working in a 2D environment and that you have an obstacle of the size 2x2. When doing planning (graph search, etc.), you increase the size of the ...
- 1,819
5
votes
Accepted
How can Denavit-Hartenberg representation with only 4 variables describe rototranslations with 6 DOF?
In general you need 6 parameters to describe the position and orientation of any joint with respect to a link coordinate frame. The DH parameterisation includes 2 constraints so only 4 parameters ...
- 1,642
5
votes
Accepted
Velocity-Control of a manipulator without a dynamic model
Your intuition is partially correct in the sense that you ought to go with position control implemented via velocity commands resorting to a kinematic (not dynamic) model of the manipulator.
This can ...
- 3,875
4
votes
Line following robot path planning
Line following is a simple reactive behaviour. Before you get into planning to solve the obstacle avoidance problem - which can get quite complex - you should consider simpler solutions.
What this ...
- 3,004
4
votes
Accepted
How is homotopy used in planning algorithms?
Let me put homotopy into the context of planning algorithms
Suppose you want to get from point A to point B. Clearly, the easiest way is to traverse a straight line. But if there is an obstacle in ...
- 1,258
4
votes
Accepted
Meaning of symbol, 'curly N' in the equation of Linear Gaussian system dynamics
They are modeling the probability as a normal distribution with the given mean and variance.
- 4,366
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 ...
- 963
4
votes
How can we solve the problem of robot size in sensor based motion planning?
If you are able to sense obstacles with a sensor pattern that is circular (eg laser scanner, contact sensors on a circular body, etc), and you can rotate the robot pose without translation, then you ...
- 4,335
4
votes
Accepted
Math behind trajectory planning
Since the problem is one dimensional, you are actually asking to compute a velocity profile. (A velocity profile is the information of how a path is traversed with respect to time.) Now the problem is ...
- 1,819
4
votes
Accepted
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,...
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4
votes
Accepted
What is the consquence of Gimbal lock?
I made a clip for you (https://imgur.com/a/KPeQ7Ia) using Unity, which internally represents rotations as quaternions, but uses Euler angles for display and positioning.
You can see that, at zero ...
- 15.7k
3
votes
Optimal-time acceleration sequence of a line-following robot following a moving obstacle
The paper “Optimizing Train Speed Profiles to Improve Regeneration Efficiency of Transit Operations” (in JRC2014-3795.pdf) by Haichuan Tang et al addresses some of the issues mentioned in the question ...
- 1,981
3
votes
Optimal-time acceleration sequence of a line-following robot following a moving obstacle
Assuming constant accelerations, "stopping" (slowing) distance can be calculated with:
$$
x = x_0 + v_0 t + \frac{1}{2} a t^2 \\
$$
where $x_0$ is your initial position, $v_0$ is your initial speed, ...
- 15.7k
3
votes
Accepted
State space and control space
The state space is the space of possible values that the state can take. For any given system it depends on which variables you are taking into account. For instance it is common to consider the 2D ...
- 3,901
3
votes
What is the difference between path planning and motion planning?
There isn't really a difference. "Path planning" might be used more often to simply describe the problem of finding a desired path from one state (or sub-set of states) to another. Whereas "motion ...
- 1,377
3
votes
What is the difference between path planning and motion planning?
Just an extract from my answer to a similar question:
Path planning is the process you use to construct a path from a
starting point to an end point given a full, partial or dynamic map.
...
- 81
3
votes
Lifting robotic leg with only one servo
Going forward, a Klann linkage has a near-vertical leg drop action. (See the legs at left in the wikipedia animated GIF.)
It has a near-vertical leg lift action if running in reverse. (See the legs ...
- 1,981
3
votes
Accepted
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 ...
- 970
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
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 ...
- 1,297
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 ...
- 415
3
votes
Optimal-Time Trajectory Planning in 1D
Hi usually the time optimal solution of a motion not having specific constraints is know as 'bang-bang'. Where you let you system accelerate and decelerate at the maximum rate possible.
In your case, ...
- 1,382
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