《认知机器人》（英文版） Probabilistic methods for Kinodynamic Path Planning

16.412/6.834J Cognitive Robotics February 11, 2004 Probabilistic methods for Kinodynamic Path Planning Based On Advanced Lectures by Paul elliott Aisha Walcott Nathan Ickes and Stanislav Funiak Outline Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners onclusions

Probabilistic Methods for Kinodynamic Path Planning Based On Advanced Lectures by: Paul Elliott, Aisha Walcott, Nathan Ickes and Stanislav Funiak 16.412/6.834J Cognitive Robotics February 11, 2004 Outline ƒ Probabilistic roadmaps ƒ Planning in the real world ƒ Planning amidst moving obstacles ƒ RRT-based planners ƒ Conclusions

Outline Probabilistic roadmaps Planning in the real world Planning amidst moving obstacles RRT-based planners Conclusions pplicability of lazy prm to Spheres By Paul elliott

Outline ƒ Probabilistic roadmaps ƒ Planning in the real world ƒ Planning amidst moving obstacles ƒ RRT-based planners ƒ Conclusions Applicability of Lazy PRM to Spheres By Paul Elliott

Zvezda service module x Place start and goal Goal Start

Zvezda Service Module Place Start and Goal Goal Start

Place nodes Select a set of neighbors

Place nodes Select a set of Neighbors

A* search 16 18 x a* search

A* search 16 18 18 2 1 2 A* search