A survey of learning‐based robot motion planning

摘要

Abstract A fundamental task in robotics is to plan collision‐free motions among a set of obstacles. Recently, learning‐based motion‐planning methods have shown significant advantages in solving different planning problems in high‐dimensional spaces and complex environments. This article serves as a survey of various different learning‐based methods that have been applied to robot motion‐planning problems, including supervised, unsupervised learning, and reinforcement learning. These learning‐based methods either rely on a human‐crafted reward function for specific tasks or learn from successful planning experiences. The classical definition and learning‐related definition of motion‐planning problem are provided in this article. Different learning‐based motion‐planning algorithms are introduced, and the combination of classical motion‐planning and learning techniques is discussed in detail.