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  • UPenn

     

     

     

    https://blog.csdn.net/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.

                              


     (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

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  • 原文地址:https://www.cnblogs.com/ecoflex/p/9789965.html
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