Gross Motion Planning—A Survey

Yong K. Hwang, Narendra Ahuja

Research output: Contribution to journalArticlepeer-review


Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and possible future research directions are discussed.

Original languageEnglish (US)
Pages (from-to)219-291
Number of pages73
JournalACM Computing Surveys (CSUR)
Issue number3
StatePublished - Jan 9 1992


  • collision detection
  • computational geometry
  • implementation
  • motion planning
  • obstacle avoidance
  • path planning
  • spatial representation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


Dive into the research topics of 'Gross Motion Planning—A Survey'. Together they form a unique fingerprint.

Cite this