Here is an overview of motion planning

In this page, we will formulate the motion planning problem.

Here are links to pages that detail different components of planning.

Fancy samplers:

Roadmap (graph) Creation

Fancy heuristic:

Heuristic Search

Most planning problems can be reduced to motion planning of a point in its configuration space

Configuration space is the space that is defined by the possible ranges of all variables.

Some examples:

1. A point that can traverse in a 2D plane freely

$\R \times \R = \R^2$

1. 2-joint planar arm

The configuration space is a torus

$\mathbb{S} \times \mathbb{S} = \mathbb{T}^2$

1. Racecar (Ackerman steering)

$\R^2 \times \mathbb{S} = SE(2)$