UPenn - Robotics 2:Computational Motion Planning - week 3: Probabilistic Road Maps

 

 

 

 

 

 

 

 

 

 

https://blog.youkuaiyun.com/DinnerHowe/article/details/80267062

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 1, initialize by random sampling

 

 

 

 

 

 

 

 

 

 

PRM is not Not complete

 

Edge case:

 

 

 

 

  only probably complete, one stratety is to generate more samples between closed barriers.

 

 

 

                          

 

 

 

 

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 (PRM buiding the map, whcih can be used in multiple tasks, but it's not efficient when only have 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 be lined to the red tree

   not succeed

 

 

 

 

 

 

    succeed this time

 

 

  

Another important feature of the RRT approach is it can be used on systems that 

have dynamic constraints, which limit how they can move.

 

 Example: Car-like robot

 

转载于:https://www.cnblogs.com/ecoflex/p/9789965.html