Standard Article

Robot Motion Planning

  1. Calin Belta

Published Online: 15 SEP 2008

DOI: 10.1002/9780470050118.ecse318

Wiley Encyclopedia of Computer Science and Engineering

Wiley Encyclopedia of Computer Science and Engineering

How to Cite

Belta, C. 2008. Robot Motion Planning. Wiley Encyclopedia of Computer Science and Engineering. 1–7.

Author Information

  1. Boston University, Brookline, Massachusetts

Publication History

  1. Published Online: 15 SEP 2008

Abstract

Robot motion planning is the problem of automatically generating robot trajectories and control laws from high-level specifications. This article covers the main ideas and concepts and reviews some of the results and approaches. Configuration and work spaces, potential-based approaches, road maps, sampling-based algorithms, and cell decompositions are among the included topics. This article also provides an introduction to the emerging area of symbolic motion planning and control.

Keywords:

  • motion planning;
  • configuration space;
  • cell decomposition;
  • potential function;
  • sampling;
  • model checking;
  • symbolic methods