Phase III trajectory generation--3. Properties of motion planning algorithms

There are two important properties that we want to talk about when discussing the scheduling algorithm. The first one is called completeness .

This means that if a solution exists by multiplying the problem, the planner will find it.

If the solution does not exist, the planner terminates and reports no solution.

Therefore, consider the following two scenarios.

In the first case, the complete algorithm might correctly identify it as a solution.

The second, the algorithm terminates and tells us that there is no solution.

Now, there may be something bothering you about the solution identified in the first example.

This brings us a second attribute, optimality.

The planning algorithm is always optimal and returns the sequence that minimizes some of the cost functions. So, for example, if we use the total travel distance as a cost function,

Then this would be the best solution, and that wouldn't be the case.

Phase III trajectory generation--3. Properties of motion planning algorithms