Abstract
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 language | English (US) |
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Pages (from-to) | 219-291 |
Number of pages | 73 |
Journal | ACM Computing Surveys (CSUR) |
Volume | 24 |
Issue number | 3 |
DOIs | |
State | Published - Jan 9 1992 |
Keywords
- collision detection
- computational geometry
- implementation
- motion planning
- obstacle avoidance
- path planning
- spatial representation
ASJC Scopus subject areas
- Theoretical Computer Science
- General Computer Science