Motion Planning and Path Planning


Content, progress and pedagogy of the module

Learning objectives


  • Must be able to understand 2D road maps, including visibility graphs and Voronoi diagrams
  • Must be able to account for an optimal path in road maps
  • Must be able to account for potential fields
  • Must be insight into kinematic and holonomic constraints
  • Must be able to explain path and trajectory
  • Must be able to explain sampling based algorithms


  • Must be able define work space and configuration space of rigid objects
  • Must be able to construct simplification of configuration spaces
  • Must be able to use grid-based search algorithms
  • Must be able to use methods and metrics for evaluation of path tracking
  • Must be able to do basic feedback control for path and trajectory tracking


  • Must be able to design and implement motion and path planning algorithms

Type of instruction

See the general description of the types of instruction described in the introduction to Chapter 3.



Name of examMotion Planning and Path Planning
Type of exam
Written or oral exam
AssessmentPassed/Not Passed
Type of gradingInternal examination
Criteria of assessmentThe criteria of assessment are stated in the Examination Policies and Procedures

Facts about the module

Danish titlePlanlægning af bevægelser og vej
Module codeESNROBB6K1
Module typeCourse
Duration1 semester
Language of instructionEnglish
Empty-place SchemeYes
Location of the lectureCampus Aalborg
Responsible for the module


Education ownerBachelor of Science (BSc) in Engineering (Robotics)
Study BoardStudy Board of Electronics and IT
DepartmentDepartment of Electronic Systems
FacultyThe Technical Faculty of IT and Design