Motion Planning for Mobile Robotics — Personal Study Notes

Personal study notes for the course Motion Planning for Mobile Robotics (HKUST, taught by Prof. Fei Gao / 高飞).

个人学习笔记：移动机器人运动规划课程笔记（笔记正文以中文为主）

About This Repository

• ✅ Markdown study notes only (no videos, no homework code for now)
• 📚 Organized lecture by lecture under op1/, op2/, ...
• ✍️ Written in Chinese, summarized from the course lectures

Course Map

The course follows a classic framework: front-end path searching + back-end trajectory optimization.

Map / Obstacles
      ↓
Front-end: path search (find a feasible path)
      ↓
Waypoints
      ↓
Back-end: trajectory optimization (generate a smooth, dynamically feasible trajectory)
      ↓
Controller tracking

Planned lecture coverage:

#	Topic
1	Introduction & map representations
2	Search-based planning: Dijkstra, A*, JPS
3	Sampling-based planning: PRM, RRT, RRT*, SST
4	Kinodynamic planning: State Lattice, Kinodynamic A*/RRT*, Hybrid A*
5	Minimum Snap trajectory generation (differential flatness)
6	Constrained trajectory optimization
7	MDP (Markov Decision Process)
8	MPC (Model Predictive Control)

Repository Structure

.
├── images/                  # images used by the notes
└── op1/                    # Lecture 1: course overview & basics
    ├── 1-1.md              # What motion planning solves; system architecture; front-end + back-end
    ├── 1-2.md              # Course framework; path vs trajectory; graph search basics
    └── 1-3.md              # Map representations (Occupancy Grid, OctoMap, TSDF, ESDF, ...)

Update Log

• op1/: added (course intro + basic concepts + map representations)

Acknowledgements

• Course: Motion Planning for Mobile Robotics (HKUST), instructor: Prof. Fei Gao (高飞)
• These are personal study notes for learning purposes only. If there is any copyright concern, please contact me and the content will be removed.