Motion Planning : The Essentials

This is the first installment of a two-part tutorial. The goal of the first part is to give the reader a basic understanding of the technical issues and types of approaches to solving the basic path planning or obstacle avoidance problem. The second installment will cover more advanced issues, including feedback, differential constraints, and uncert ainty. Note that is a brieftutorial, rather than a comprehensive surveyof methods. For the latter, consult recent textbooks [4], [9].

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