本文是关于快速搜索随机树（RRT）算法的学习笔记，介绍了PRM算法的优缺点，详细解析了RRT算法的步骤，包括随机采样、最近邻居搜索和碰撞检查等关键环节，并探讨了RRT与RRT*的区别以及优化方法如informed RRT*和anytime RRT*。
路径规划—快速搜索随机树（rapid radom tree）算法学习笔记 @TOC
prm 算法（概率图法）@[TOC]
步骤@[TOC]
learning phase
- sample N points in C-space
- Delete points that are not collision-free
query phase
- search on the road map to find a path fron the start point to the goal point(using Dijkstra’s algorithm or the A* algorithm).
- Road map is now similar with the grid map(or a simplified grid map)
PRM算法评价@[TOC]
Pros
- Probabilistically complete
Cons
- Required to solve 2 point boundary value problem
- Build graph over state space but no particular focus on generating a path
- Not efficient
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