I'm making a space map, and I've looked at other stock space maps. However, I am confused about where to place Planning, Barriers, etc. for AI. The documentation files are confusing enough. Is there a better way to understand setting up things for AI in Zero Editor?

Unless you have HUGE motherships interiors you shouldn't Need to use much of the planning and Barriers. Also, because your making a space map youll want to use flyer splines ( wich are paths made of little dots called nodes that tell your flying AI where to go )
More info as well as guides for planning, barriers and flyer splines can be found here :
viewtopic.php?f=27&t=13806

Plus most of the post that you'll find at the link i gave you explain most of the documented things in a way that is easier to understand.