Motion Planning
Two main approaches to motion planning:
1. Combinatorial planning: constructs structures in the C-space that discretely and completely capture all information needed to perform planning
2. Sampling-based planning: uses collision detection algorithms to probe and incrementally search the C-space for a solution, rather than completely characterizing all of the C-free structure
1. Combinatorial planning: constructs structures in the C-space that discretely and completely capture all information needed to perform planning
2. Sampling-based planning: uses collision detection algorithms to probe and incrementally search the C-space for a solution, rather than completely characterizing all of the C-free structure
Sampling-based approaches
1. Abandon the idea of explicitly characterizing C-free and C-obs.
2. Probe C with a black box (collision checker) that determines whether some configuration lies in C-free.
3. Use such probing scheme to incrementally build a roadmap and then plan a path.
2. Probe C with a black box (collision checker) that determines whether some configuration lies in C-free.
3. Use such probing scheme to incrementally build a roadmap and then plan a path.