Motion Planning
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Motion planning (a.k.a., the navigation problem, the piano mover's problem) is a term used in robotics for the process of detailing a task into discrete motions. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels. Motion planning algorithms might address robots with a larger number of joints (e.g., industrial manipulators), more complex tasks (e.g. manipulation of objects), different constraints (e.g., a car that can only drive forward), and uncertainty (e.g. imperfect models of the environment or robot). Motion planning has several robotics applications, such as Autonomous robot|autonomy, automation, and robot design in CAD software, as well as applications in other fields, such as animating digital characters, video game...
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