Motion planning (a.k.a. , the "navigation problem", the "piano mover's problem") is a term used in robotics for the process of detailing a task into discrete motions. For example, consider navigating a mobile robot inside a building to a distant waypoint. It should execute this task while avoiding walls and not falling down stairs. A motion planning algorithm would take a description of these tasks as input, and produce the speed and turning commands sent to the robot's wheels.
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