The development of optimal trajectory planning algorithms for autonomous robots is a key issue in order to efficiently perform the robot tasks. This problem is hampered by the complex environment regarding the kinematics and dynamics of robots with several arms and/or degrees of freedom (dof), the design of collision-free trajectories and the physical limitations of the robots. This paper presents a review about the existing robot motion planning techniques and discusses their pros and cons regarding completeness, optimality, efficiency, accuracy, smoothness, stability, safety and scalability.

中文翻译：

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机器人轨迹规划的优化方法

为了有效执行机器人任务，针对自主机器人的最佳轨迹规划算法的开发是一个关键问题。这个问题受到以下复杂环境的束缚：涉及具有多个臂和/或自由度（dof）的机器人的运动学和动力学，无碰撞轨迹的设计以及机器人的物理限制。本文概述了现有的机器人运动计划技术，并讨论了它们在完整性，最优性，效率，准确性，平滑性，稳定性，安全性和可伸缩性方面的优缺点。