Gross motion planning—a survey
- 1 September 1992
- journal article
- Published by Association for Computing Machinery (ACM) in ACM Computing Surveys
- Vol. 24 (3) , 219-291
- https://doi.org/10.1145/136035.136037
Abstract
Motion planning is one of the most important areas of robotics research. The complexity of the motion-planning problem has hindered the development of practical algorithms. This paper surveys the work on gross-motion planning, including motion planners for point robots, rigid robots, and manipulators in stationary, time-varying, constrained, and movable-object environments. The general issues in motion planning are explained. Recent approaches and their performances are briefly described, and possible future research directions are discussed.Keywords
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