Probabilistic Roadmap Method in 3D
Probabilistic Roadmap Method in 3D
This Demonstration uses the probabilistic roadmap method (PRM) to plan a motion path for a three-link robot in a 3D configuration space that avoids collisions with a blue and a yellow sphere. If a path from the initial configuration to the goal configuration is found, it can be traversed by moving the "progress" slider. To generate a new roadmap, click "restart" and then click "add 100 vertices" to randomly sample configurations and calculate if they collide with obstacles (red points) or are safe (green points). If no path is found, continue adding vertices or increase the "radius" value to try to connect safe vertices less than radius distance apart into a roadmap. Although the PRM does not need to calculate the configuration space obstacles, you can make them visible with a checkbox.