Definition
Motion planning computes a path through the robot's configuration space (joint space) that avoids collisions with obstacles and respects joint limits, velocity bounds, and other constraints. Sampling-based planners like RRT, RRT*, and PRM build roadmaps by randomly sampling configurations. Optimization-based planners like CHOMP, TrajOpt, and STOMP refine initial trajectories to minimize cost functions. In learned manipulation pipelines, motion planning often serves as a lower-level module called by a higher-level task planner or policy. MoveIt and OMPL are the most widely used open-source planning frameworks.
Why It Matters for Robot Teams
Understanding motion planning is essential for teams building real-world robot systems. Whether you are collecting demonstration data, training policies in simulation, or deploying in production, this concept directly affects your workflow and system design.