Robotics Motion Planning week3 and week4

week3

Probilalitic Road Map(PRM)

Rapidy Exploring Random Tree(RRT) Method

RRT 2

Week4

Artificial Potential Field[人造势场]

• 规划路径平滑化
• 将随机取点改为梯度下降法
• Attractive Field[引力场]
  • 将起点放在高处，终点放在低处
• Repulsive Field[斥力场]
  • 障碍物提供斥力

Reference

• 路径规划-人工势场法(Artificial Potential Field) - 半杯茶的小酒杯的文章 - 知乎