By Topic

Motion Planning

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Steven M. LaValle ; Department of Computer Science, University of Illinois at Urbana-Champaign, Urbana, IL.

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 lat ter, consult some of the recent textbooks. Motion planning involves getting a robot to automatically determine how to move while avoiding collisions with obstacles. Its original formulation, called the piano mov er's problem, is imagined as determining how to move a complicated piece of furniture through a cluttered house. Have you ever argued about how to move a sofa up a stairwell? It has been clear for several decades that getting robots to reason geometrically about their environments and synthesize such plans is a fundamental difficulty that recurs all over robotics.

Published in:

IEEE Robotics & Automation Magazine  (Volume:18 ,  Issue: 1 )