Journal
IET CYBER-SYSTEMS AND ROBOTICS
Volume 1, Issue 1, Pages 13-19Publisher
WILEY
DOI: 10.1049/iet-csr.2018.0003
Keywords
path planning; optimal motion planning; motion planning algorithms; real-world applications; decision variables-and-problem formulation component; constraints component; objectives component
Funding
- [GRF 17204115]
- [21203216]
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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.
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