---

Version 1.0, August 31, 2001, Copyright, Hugh Jack 1993-2001

---

40.2 GENERAL REQUIREMENTS

The general requirements of a path planner are discussed in this section. Some of the factors involved in the application, and for evaluating their performance, are described. These factors do not include all the essential parts of a path planner, nor all of the possible requirements, but they provide a good idea of what the current requirements are.

40.2.1 PROBLEM DIMENSIONALITY

40.2.2 2D MOBILITY PROBLEM

40.2.3 COLLISION AVOIDANCE

40.2.4 MULTILINK

40.2.5 ROTATIONS

40.2.6 OBSTACLE MOTION PROBLEM

40.2.7 ROBOT COORDINATION

40.2.8 INTERACTIVE PROGRAMMING