Motion planning

Lydia E. Kavraki; Steven M Lavalle

doi:10.1007/978-3-319-32552-1_7

Motion planning

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

This chapter first provides a formulation of the geometric path planning problem in Sect. 7.2 and then introduces sampling-based planning in Sect. 7.3. Sampling-based planners are general techniques applicable to a wide set of problems and have been successful in dealing with hard planning instances. For specific, often simpler, planning instances, alternative approaches exist and are presented in Sect. 7.4. These approaches provide theoretical guarantees and for simple planning instances they outperform sampling-based planners. Section 7.5 considers problems that involve differential constraints, while Sect. 7.6 overviews several other extensions of the basic problem formulation and proposed solutions. Finally, Sect. 7.8 addresses some important and more advanced topics related to motion planning.

Original language	English (US)
Title of host publication	Springer Handbook of Robotics
Publisher	Springer International Publishing
Pages	139-161
Number of pages	23
ISBN (Electronic)	9783319325521
ISBN (Print)	9783319325507
DOIs	https://doi.org/10.1007/978-3-319-32552-1_7
State	Published - Jan 1 2016

Keywords

Belief space
Cell decomposition
Differential constraint
Motion planning
Planning algorithm

ASJC Scopus subject areas

Computer Science(all)
Engineering(all)

Access to Document

10.1007/978-3-319-32552-1_7

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Kavraki, L. E., & Lavalle, S. M. (2016). Motion planning. In Springer Handbook of Robotics (pp. 139-161). Springer International Publishing. https://doi.org/10.1007/978-3-319-32552-1_7

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