Survey of optimal motion planning

Yajue Yang; Jia Pan; Weiwei Wan

doi:10.1049/iet-csr.2018.0003

Survey of optimal motion planning

Yajue Yang, Jia Pan, Weiwei Wan

Department of Biomedical Engineering

Research output: Journal Publications and Reviews › RGC 62 - Review of books or of software (or similar publications/items) › peer-review

47 Citations (Scopus)

30 Downloads (CityUHK Scholars)

Abstract

Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications. The objective of this article is to survey the current state-of-the-art on optimal motion planning algorithms in terms of their three main components: the decision variables and problem formulation, constraints, and objectives. A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices.

Original language	English
Journal	IET Cyber-systems and Robotics
Volume	1
DOIs	https://doi.org/10.1049/iet-csr.2018.0003
Publication status	Published - 1 Jun 2019

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Research Keywords

path planning
optimal motion planning
motion planning algorithms
real-world applications
decision variables-and-problem formulation component
constraints component
objectives component

Publisher's Copyright Statement

This full text is made available under CC-BY 3.0. https://creativecommons.org/licenses/by/3.0/

RGC Funding Information

RGC-funded

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10.1049/iet-csr.2018.0003

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Cite this

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title = "Survey of optimal motion planning",

abstract = "Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications. The objective of this article is to survey the current state-of-the-art on optimal motion planning algorithms in terms of their three main components: the decision variables and problem formulation, constraints, and objectives. A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices.",

keywords = "path planning, optimal motion planning, motion planning algorithms, real-world applications, decision variables-and-problem formulation component, constraints component, objectives component",

author = "Yajue Yang and Jia Pan and Weiwei Wan",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].",

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doi = "10.1049/iet-csr.2018.0003",

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AU - Pan, Jia

AU - Wan, Weiwei

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PY - 2019/6/1

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AB - Optimal motion planning becomes more and more important these days and is critical for motion planning algorithms developed in the academia to be applicable to real-world applications. The objective of this article is to survey the current state-of-the-art on optimal motion planning algorithms in terms of their three main components: the decision variables and problem formulation, constraints, and objectives. A selection of proposed techniques is reviewed along with a discussion of their effectiveness and limitations. The side-by-side comparison presented in this survey helps to gain insight into the strengths and limitations of the reviewed approaches and assists with system-level design choices.

KW - path planning

KW - optimal motion planning

KW - motion planning algorithms

KW - real-world applications

KW - decision variables-and-problem formulation component

KW - constraints component

KW - objectives component

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U2 - 10.1049/iet-csr.2018.0003

DO - 10.1049/iet-csr.2018.0003

M3 - RGC 62 - Review of books or of software (or similar publications/items)

SN - 2631-6315

VL - 1

JO - IET Cyber-systems and Robotics

JF - IET Cyber-systems and Robotics

ER -

Survey of optimal motion planning

Abstract

Bibliographical note

Research Keywords

Publisher's Copyright Statement

RGC Funding Information

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ECS: Autonomous Warehouse Logistics with Multiple Mobile Manipulators

GRF: Learning from Demonstrations for Robotic Manipulation of Deformable Objects

Cite this

Survey of optimal motion planning

Abstract

Bibliographical note

Research Keywords

Publisher's Copyright Statement

RGC Funding Information

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Projects

ECS: Autonomous Warehouse Logistics with Multiple Mobile Manipulators

GRF: Learning from Demonstrations for Robotic Manipulation of Deformable Objects

Cite this