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The probabilistic roadmap [1] planner is a motion planning algorithm in robotics, which solves the problem of determining a path between a starting configuration of the robot and a goal configuration while avoiding collisions. An example of a probabilistic random map algorithm exploring feasible paths around a number of polygonal obstacles
For robot control, Stochastic roadmap simulation [1] is inspired by probabilistic roadmap [2] methods (PRM) developed for robot motion planning. The main idea of these methods is to capture the connectivity of a geometrically complex high-dimensional space by constructing a graph of local paths connecting points randomly sampled from that space.
Occupancy Grid Mapping refers to a family of computer algorithms in probabilistic robotics for mobile robots which address the problem of generating maps from noisy and uncertain sensor measurement data, with the assumption that the robot pose is known. Occupancy grids were first proposed by H. Moravec and A. Elfes in 1985.
A basic algorithm samples N configurations in C, and retains those in C free to use as milestones. A roadmap is then constructed that connects two milestones P and Q if the line segment PQ is completely in C free. Again, collision detection is used to test inclusion in C free. To find a path that connects S and G, they are added to the roadmap.
Real-Time Path Planning is a term used in robotics that consists of motion planning methods that can adapt to real time changes in the environment. This includes everything from primitive algorithms that stop a robot when it approaches an obstacle to more complex algorithms that continuously takes in information from the surroundings and creates a plan to avoid obstacles.
Any-angle path planning are useful for robot navigation and real-time strategy games where more optimal paths are desirable. Hybrid A*, for example, was used as an entry to a DARPA challenge. [ 21 ] The steering-aware properties of some examples also translate to autonomous cars.
A rapidly exploring random tree (RRT) is an algorithm designed to efficiently search nonconvex, high-dimensional spaces by randomly building a space-filling tree.The tree is constructed incrementally from samples drawn randomly from the search space and is inherently biased to grow towards large unsearched areas of the problem.
The Mobile Robot Programming Toolkit (MRPT) is a cross-platform software C++ library for helping robotics researchers design and implement algorithms related to simultaneous localization and mapping (SLAM), computer vision, and motion planning (obstacle avoidance). Different research groups have employed MRPT to implement projects reported in ...