Motion planning: Part I: The essentials

Research output: Contribution to journalArticlepeer-review


This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches in solving the basic path-planning or obstacle-avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncertainty. Note that this is a brief tutorial rather than a comprehensive survey of methods. For the latter, consult some of the recent textbooks [4], [9].

Original languageEnglish (US)
Article number5751929
Pages (from-to)79-89
Number of pages11
JournalIEEE Robotics and Automation Magazine
Issue number1
StatePublished - Mar 2011

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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