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

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.

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

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