Probabilistic Road-Map (PRM) planning

This PRM planner uses Dijkstra method for graph search.

In the animation, blue points are sampled points,

Cyan crosses means searched points with Dijkstra method,

The red line is the final path of PRM.

Code Link

PathPlanning.ProbabilisticRoadMap.probabilistic_road_map.prm_planning(start_x, start_y, goal_x, goal_y, obstacle_x_list, obstacle_y_list, robot_radius, *, rng=None)

Run probabilistic road map planning

Parameters:

• start_x – start x position

• start_y – start y position

• goal_x – goal x position

• goal_y – goal y position

• obstacle_x_list – obstacle x positions

• obstacle_y_list – obstacle y positions

• robot_radius – robot radius

• rng – (Optional) Random generator

Returns:

Reference

• Probabilistic roadmap - Wikipedia