Motion Planning

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.

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

Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Department of Computer ScienceRice UniversityHoustonUSA
  2. 2.Department of Computer ScienceUniversity of IllinoisUrbanaUSA

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