Upenn-robotics 2:computational Motion planning-week 3:probabilistic Road Maps

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1, initialize by random sampling

PRM is not a complete

Edge Case:

Only probably complete, one stratety are to generate more samples between closed barriers.

(PRM buiding The map, whcih can be used in multiple tasks, but it's not efficient when only has to solve one problem and Search the entire free space)

Rapid Exploring Random Trees (RRT)

Check if green node (new node in blue tree) can is lined to the red tree

Not succeed

Succeed this time

Another important feature of the RRTApproach is it can-used on systems. Dynamic Constraints, which limit how they can move.

Example:car-like Robot

Upenn-robotics 2:computational Motion planning-week 3:probabilistic Road Maps