Although several geometric methods can be used for solving basic path-planning problems, Latombe has highlighted three methods Latombe, 1991: artificial potential fields APF, roadmaps and cell decomposition. researchers have developed a technique termed probabilistic roadmaps during the last decade Choset, 2005.
Existen varios métodos de origen geométrico para resolver el problema básico de planeamiento de caminos, y desde Latombe 1991 se han destacado tres métodos: campos potenciales artificiale Potential Functions, mapas de carreteras Roadmaps y descomposición de celdas Cell Decompositions.