Proceedings of ISP RAS

An overview of modern methods for motion planning

K.A. Kazakov (ISP RAS, Moscow, Russia)
V.A. Semenov (ISP RAS, Moscow, Russia; MIPT, Dolgoprudny, Russia)


Currently there is growing interest in motion planning problems that play a key role in automation of technologically difficult processes in mechanical, power and transport engineering, medicine, construction and creation of new products and services. This interest particularly relates to the increasing role of computer simulation and such disciplines as complex planning of industrial projects, realistic 3D animation, robotic surgery, automotive products assembly and organization of movement of transport streams. This paper is devoted to the overview and analysis of modern motion planning methods.


motion planning, path planning, roadmaps, collision detection


Proceedings of the Institute for System Programming, vol. 28, issue 4, 2016, pp. 241-294.

ISSN 2220-6426 (Online), ISSN 2079-8156 (Print).

DOI: 10.15514/ISPRAS-2016-28(4)-14

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