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Introduction to Mobile Robot Control by Spyros G Tzafestas

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11

Mobile Robot Path, Motion, and Task Planning

Robot planning is a special case of general planning, which is concerned with the problem of figuring out how the robots should move to get from one place to another, and how to perform a desired task. Actually, the term planning means different things to different scientific communities (artificial intelligence, management, production engineering, etc.).

The objectives of this chapter are (i) to present the general conceptual definition of robot path planning, motion planning, and task planning, (ii) to investigate the path planning problem of mobile robots, including the basic operations and classification of methods, (iii) to study in some detail the model-based mobile robot path planning, including ...

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