Probabilistic Roadmap Method for Robot Arm
Probabilistic Roadmap Method for Robot Arm
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This Demonstration uses the Probabilistic Roadmap Method (PRM) to plan a motion path for a two-link robot that avoids collisions with a blue sphere and an orange sphere. First, click "add 100 vertices" to randomly sample configurations and calculate if they collide with obstacles (red points) or are safe (green points). Next, select "radius" value to try to connect safe vertices less than radius distance apart into a roadmap. If a path from the initial to goal configuration is found, it can be traversed with the "progress" slider. Although the PRM does not need to calculate the configuration space obstacles, you can make them visible with a checkbox.