Research on Path Planning and Related Algorithms for Robots

摘要

Path planning is one of important topics in robotics. The research has been studied extensively thus far with two essential sorts. One is global planning approach, and the other is local planning approach. Global planning approach primarily includes geometric method and topological method based on configuration space while the local one chiefly involves artificial potential field method based on Cartesian space. On the basis of the analysis of some typical ideas, methods and related algorithms of path planning for mobile and manipulator robots, this paper proposes the future research emphasis of robot path planning.