Path Planning

Path planning produces collision-free, kinematically meaningful routes from start to goal in structured and unstructured 3D environments.

Core Questions

• How does graph optimality compare against randomized exploration?
• Which planner scales best with map size and obstacle density?
• How should safety margins and smoothness constraints be injected?

Algorithms

• A* 3D
• RRT* 3D
• PRM 3D
• Potential Field 3D
• Coverage Planning

Prerequisites

• Graph search and heuristic design
• Sampling-based planning intuition
• Occupancy/costmap representations