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.
CITATION STYLE
Yang, Y., Pan, J., & Wan, W. (2019, June 1). Survey of optimal motion planning. IET Cyber-Systems and Robotics. John Wiley and Sons Inc. https://doi.org/10.1049/iet-csr.2018.0003
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