Motion planning (also known as the navigation problem or the piano mover's problem) is a term used in robotics for the process of breaking down a desired movement task into discrete motions that satisfy movement constraints and possibly optimize some aspect of the movement.
Questions tagged [motion-planning]
254 questions
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What is the difference between motion planning and trajectory generation?
What are the major differences between motion planning and trajectory generation in robotics? Can the terms be used interchangeably?
Ratan Sadanandan O M
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Line following robot path planning
I have built a mobile robot with several ultrasonic sensors to detect obstacles and an infrared sensor to track a line as a path. I have written a simple algorithm to follow the line which works fine, but avoiding obstacles are a problem because the…
JVTura
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Difference between kinematic, dynamic and differential constraints
I would like to know the simple difference between kinematic, dynamic and differential constraints in robotic motion planning.
boon
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Why the name "combinatorial"?
Why are 'cell decomposition' methods in motion planning given the name, "combinatorial" motion planning?
boon
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3
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State space and control space
I would like to know the difference between state space and control space in relation to motion planning. I would like a simpler explanation.
boon
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3
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Working of Autonomous Lawn mower(ALM) in an unbounded area without a perimeter wire
I have an Autonomous Lawn mower(ALM) which can mow a certain lawn area when that area is bounded by a perimeter wire. Even when that perimeter wire is removed, it has to mow the above mentioned area accurately without slipping into a neighboring…
user1394
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Canny's Roadmap Algorithm
Where can I find a general implementation of Canny's Roadmap Algorithm(or Silhouette Method) for Robot Motion Planning?
Karthik Krishna
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rotation matrix to euler angles with gimbal lock
How do i determine which angle i can negate when gimbal lock occurs.
As i've understood with gimbal lock that it remove one degree of freedom, but how do i determine which degree can be removed when a value R[1][3] of a rotation matrix (size 3x3)…
Carlton Banks
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A* as a planning algorithm
Researchers refer to A* as the planning method but: how does A* work as a path planning algorithm, instead of a graph search method?
And how does it compare to RRT?
Michael K.
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Action cost to get smooth path
What action cost should be used to get a smooth path? Like we use distance traversed to get the shortest path. Will the cost to get a smooth path will be something related to rate of change of slope of the path?
vacky
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How to formulate the equation and environment equations for motion planning algorithm use?
How to formulate the equation and environment equations for motion planning algorithm use?
And if know the desired state, how to use motion planning to fill the data to reach this desired state?
BOMA
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Moving Sofa Problem with the help of 'Potential Field Method' and 'Navigation Functions'
I would like to move a piano. Having a mathematical background, I was trying to figure out whether I can get it into the new apartment.
In my research I stumbled upon the already explored "moving sofa problem" as illustrated below:
Now, my question…
ls.
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Motion planning algorithms with applications beyond robotics in animation
I am reading the introduction (chapter 1) of Principles of Robot Motion Theory, Algorithms, and Implementations by Choset et al. and they mention that some of the work in robotics has been applied to digital actors, animation etc and it isn't…
heretoinfinity
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What is an example of a good motion control API?
We are in the process of implementing a motion control API for a research project. The goal is to implement a somewhat comprehensive API for motion control that provides the most commonly used primitives, while providing a workable programming…
Ziffusion
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How to derive the Cubic Interpolation algorithm?
I have a data point array. Which is recorded at 20Hz(0.05 second. It can be 30Hz, 40Hz, 50Hz. 20Hz is an example value)
I want to interpolate this data to bigger frequency for example 1kHz(0.001 second) with cubic interpolation to get smooth data…
sphinxlike
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