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@ -30,7 +30,7 @@ degrees of freedom a robot has and the degrees of freedom the obstacles
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in an environment have. Thus, planning with high degrees of freedom leads to many problems
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in an environment have. Thus, planning with high degrees of freedom leads to many problems
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such as incompleteness and extremely slow speed. The PRM method was the first to
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such as incompleteness and extremely slow speed. The PRM method was the first to
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propose a sampling-based stratey to deal with motion planning and
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propose a sampling-based stratey to deal with motion planning and
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created a practical methed for offline planning of robot manipulators.
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created a practical method for offline planning of robot manipulators.
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The RRT method modified PRM by using a tree structure rather than a
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The RRT method modified PRM by using a tree structure rather than a
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graph so that non-holonomic and other constraints could be considered
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graph so that non-holonomic and other constraints could be considered
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when planning.
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when planning.
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