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Algorithm

The document outlines key algorithms used in robotics, focusing on sensing and perception, planning, control, decision-making, localization, and grasping. It details various algorithms such as SLAM, A*, PID control, and reinforcement learning, highlighting their applications in tasks like navigation and object manipulation. Additionally, it categorizes robotics algorithms into motion planning, perception, control, and machine learning, emphasizing their roles in enabling robots to interact with and understand their environment.

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Mark Railey Generoso
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8 views

Algorithm

The document outlines key algorithms used in robotics, focusing on sensing and perception, planning, control, decision-making, localization, and grasping. It details various algorithms such as SLAM, A*, PID control, and reinforcement learning, highlighting their applications in tasks like navigation and object manipulation. Additionally, it categorizes robotics algorithms into motion planning, perception, control, and machine learning, emphasizing their roles in enabling robots to interact with and understand their environment.

Uploaded by

Mark Railey Generoso
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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Algorithm in Robotics

Algorithm for a robot, the key is to break down the tasks into logical steps that
allow the robot to understand and execute them efficiently. The algorithm
depends on the specific task the robot is supposed to perform—whether it's
navigation, object manipulation, or interaction with the environment.

Core concepts and algorithms commonly covered in a robotics.

1. Sensing and Perception

 Sensor Inputs: Robots gather data from sensors like cameras, lidar,
ultrasonic sensors, etc.
o Algorithm: Data from sensors is interpreted using techniques such as
filtering (e.g., Kalman filters), edge detection (for images), or
clustering (for point clouds).
o Example: A robot using lidar to detect obstacles in the environment.
 Perception Algorithms:
o SLAM (Simultaneous Localization and Mapping): Allows a robot to
map its environment while keeping track of its location.
o Computer Vision Algorithms: Used for object detection, recognition,
and classification using deep learning (e.g., Convolutional Neural
Networks).

2. Planning

 Path Planning: Robots use algorithms to find the optimal path from point A
to point B while avoiding obstacles.
o Algorithm:
 A* Algorithm: A heuristic-based search algorithm to find the
shortest path on a graph.
 Dijkstra’s Algorithm: Guarantees finding the shortest path by
exploring all possible routes.
 RRT (Rapidly-exploring Random Tree): Used for high-
dimensional spaces where complex environments are
involved.
o Example: A warehouse robot navigating around shelves to pick
items.
 Trajectory Planning: Finding a path that not only avoids obstacles but
ensures smooth motion and stability.
o Algorithm:
 Bezier curves or polynomial curves for smooth trajectory
generation.
 Dynamic Window Approach (DWA): Used in dynamic
environments to avoid moving obstacles.

3. Control

 Feedback Control: Ensuring the robot follows the desired path or trajectory
by making continuous adjustments.
o Algorithm:
 PID (Proportional-Integral-Derivative) Control: Corrects errors
between the robot's actual and desired state.
 Model Predictive Control (MPC): Uses a model of the system
to predict future states and adjust actions accordingly.
 Motion Control: For controlling actuators and motors, ensuring smooth
movement of the robot’s joints or wheels.
o Inverse Kinematics: For robot arms, calculating the joint movements
needed to achieve a desired position.
o Velocity Control: For wheeled robots, controlling the speed of
motors to maintain a desired path.

4. Decision Making and AI

 Behavior-Based Control: The robot reacts to its environment in real-time


based on a set of predefined behaviors.
o Algorithm: Finite State Machines (FSM), Behavior Trees (BT), or
Subsumption Architecture.
 Machine Learning & AI:
o Reinforcement Learning (RL): A robot learns the best actions by
receiving feedback (rewards) from the environment.
o Neural Networks: Used for tasks like image recognition, robot
grasping, or language processing.
5. Localization

 GPS-based Localization: For outdoor robots, GPS data can be used for
large-scale navigation.
 Particle Filters: Used when dealing with uncertainty in robot positioning
(especially indoors).
 Kalman Filters: For sensor fusion, combining data from various sensors like
accelerometers and gyroscopes.

6. Grasping and Manipulation

 Grasping Algorithms: Determining how a robot arm should approach and


grip an object.
o Algorithm:
 Force Control: Ensuring that the grip force is appropriate.
 Grasp Planning: Finding optimal contact points on an object to
ensure a stable grasp.

Types of robotics algorithms:

 Motion planning algorithms: These help robots navigate their


environment, avoid obstacles, and reach their desired destinations.
 Perception algorithms: These enable robots to interpret sensory data from
cameras, LiDAR, and other sensors to understand their surroundings.
 Control algorithms: These control the robot's movements and actions
based on sensory data and desired goals.
 Machine learning algorithms: These allow robots to learn from experience
and adapt their behavior over time.

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