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path planning without using an already made map

asked 2015-05-28 14:19:16 -0500

A.M Dynamics gravatar image

I need to control (path planning) a robot without sensing environment by any sensor. I mean without using a prepared map. To do this, I need to set a starting coordination, an end point and coordination of obstacles, then to find the shortest collision-free path by the use of a simple algorithm under ROS environment (A ROS node that calculates the shortest path and command the robot to traverse). Dose anybody have any idea how to: 1- Create a so-called hand-made map under ROS package application. 2- make understand the robot that it has a path ahead without a map?

What else do I need to consider for this simple test? Do I need a special already made ROS package?

I am open to any suggestion, link and information. Thanks,

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answered 2015-05-28 14:42:18 -0500

ahendrix gravatar image

This can't be done. You need some kind of sensor on your robot for determining the position of the robot. I also strongly recommend sensors for detecting obstacles.

If you do have a way of determining your location (odometry, gps, indoor radio beacons, etc), you could use that in conjunction with a static map to navigate. This approach makes two very dangerous assumptions:

  • the map is perfect, and that nothing has moved since the map was made
  • the robot knows its location very accurately
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Asked: 2015-05-28 14:19:16 -0500

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Last updated: May 28 '15