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Motion Planning

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Springer Handbook of Robotics

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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.

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Abbreviations

1-D:

one-dimensional

2-D:

two-dimensional

3-D:

three-dimensional

PRM:

probabilistic roadmap method

RDT:

rapidly exploring dense tree

RLG:

random loop generator

RRT:

rapidly exploring random tree

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Author information

Authors and Affiliations

  1. Department of Computer Science, Rice University, 6100 Main Street, TX 77005, Houston, USA

    Lydia E. Kavraki

  2. Department of Computer Science, University of Illinois, 201 North Goodwin Avenue, 3318 Siebel Center, IL 61801, Urbana, USA

    Steven M. LaValle

Authors
  1. Lydia E. Kavraki
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  2. Steven M. LaValle
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Corresponding author

Correspondence to Lydia E. Kavraki .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

:

Powder transfer task using demonstration-guided motion planningavailable from http://handbookofrobotics.org/view-chapter/07/videodetails/17

:

Simulation of a large crowdavailable from http://handbookofrobotics.org/view-chapter/07/videodetails/21

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Motion planning in multi-robot scenarioavailable from http://handbookofrobotics.org/view-chapter/07/videodetails/22

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Alpha puzzleavailable from http://handbookofrobotics.org/view-chapter/07/videodetails/23

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Kinodynamic motion planning for a car-like robotavailable from http://handbookofrobotics.org/view-chapter/07/videodetails/24

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© 2016 Springer-Verlag Berlin Heidelberg

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Kavraki, L.E., LaValle, S.M. (2016). Motion Planning. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_7

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  • DOI: https://doi.org/10.1007/978-3-319-32552-1_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-32550-7

  • Online ISBN: 978-3-319-32552-1

  • eBook Packages: EngineeringEngineering (R0)

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