Process

Motion planning

You might say: path planning

Motion planning searches for a robot path from start to goal while avoiding collisions and respecting constraints.

What it does

Gives an arm or mobile base a geometric route for trajectory generation.

Ask

Does it find a valid path within the time budget, and how good is that path?

What to look for

1. Path from start to goal
2. Collision-free route
3. Constraints shown on the planned path

Parts

• Configuration space: Configuration space is the space of all robot configurations; one point represents one complete set of joint or base coordinates.
• Collision checking: Collision checking tests whether robot geometry intersects obstacles or itself at a configuration or along a path segment.

Catalogue: Planner

• Sampling-based (RRT, PRM): Samples configurations and connects feasible ones into a tree or roadmap; OMPL documents PRM and RRT as sampling-based examples.
• Grid search (A*, D*): Searches a discretized graph with methods such as A* or D*; its guarantees apply to the chosen grid or graph.
• Trajectory optimisation (CHOMP, TrajOpt): Optimizes a path or trajectory by reducing a cost such as length, smoothness, or collision proximity.

Sources

1. Kevin M. Lynch and Frank C. Park, Modern Robotics: Mechanics, Planning, and Control, Chs. 9–10The path planning problem is a subproblem of the general motion planning problem that is concerned with finding a collision-free path between a start and goal configuration.
2. MoveIt, Motion Planning Concepts, Motion planning pipelineThe complete motion planning pipeline chains together a motion planner with other components called planning request adapters.

Use it on your project

teardown-apply: hold "Motion planning" (motion-planning) from the teardown at https://teardownatlas.com/robotics/ against my project

Paste it into a coding agent that has the teardown skills.

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal