Robot Motion planning is a computational problem that involves finding a sequence of valid configurations to move the robot from the source to the destination. Generally, it includes Path Searching and Trajectory Optimization.
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Path Searching: Based on path constraints (e.g., avoiding obstacles), to find the optimal sequence for the robot to travel from the source to the destination without collision.
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Trajectory Optimization: Based on kinematics, dynamics and obstacles, to optimize the trajectory of the motion state from the source to the destination according to the path.