I am struggling to understand the difference between mission planning, path planning, and motion planning. This answer on stack exchange clarified the difference between path planning and motion planning. However, where does mission planning come in?

From what I understand mission planning includes motion planning and path planning.


1 Answer 1


These are 3 different layers of abstraction.

Mission planning on top then Path planning, then Motion planning

Mission planning is: how are we going to get the robot from A to B while achieving sub goals C, D, and E? Very high level description of overall goals to complete.

Path planning is: These are the waypoints that we will visit that aren't too costly (inside a building or a wall or other obstruction).

Motion planning is: What motor velocity curves do we need to go from waypoint 2 to waypoint 3 considering the constraints of the drivetrain?

Does this make sense?


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