Path planner theory

[fma]

Hi!

I'm working on a python framework for multi-legs robot (like hexapods).

The current implementation of the gait sequencer is not great, and I need to re-write it. For that, I need to split feet moves in smaller segments, like it is done in 3D-printing or CNC firmware.

Is there a good (and not too complicated) paper explaining the theory of a path planner?

Thanks,