Motion planning is a field of growing importance as more and more computer controlled devices are being used. Many different approaches exist to motion planning|none of them ideal in all situations. This paper considers how to convert a general motion planning problem into one of global optimisation. We regard the general problem as being the classical configuration space findpath problem, but assume that the configurations of the device can be bounded by a hierarchy of hyper-spheres rather than being explicitly computed. A program to solve this problem has been written employing Genetic Algorithms. This paper describes how this was done, and some preliminary results of using it.

motion planning, path optimisation, complex geometries