M-File Help: PRM View code for PRM

PRM

Probabilistic roadmap navigation class

A concrete subclass of Navigation that implements the probabilistic roadmap navigation algorithm. This performs goal independent planning of roadmaps, and at the query stage finds paths between specific start and goal points.

Methods

plan Compute the roadmap
path Compute a path to the goal
visualize Display the obstacle map
display Print the parameters in human readable form
char Convert the parameters to a human readable string

Example

load map1
prm = PRM(map);
prm.plan()
prm.path(start, goal)

See also

Navigation, DXform, Dstar, PGraph


PRM.PRM

Create a PRM navigation object constructor

p = 'npoints', n Number of sample points (default 100) 'distthresh', d Distance threshold, edges only connect vertices closer than d (default 0.3 max(size(occgrid)))

See also

Navigation.Navigation


PRM.char

Convert navigation object to string

P.PRM.display


PRM.path

Find a path between two points

P.path from start to goal which is overlaid on the occupancy grid. x = P.

PRM.plan

Create a probabilistic roadmap

P.

PRM.visualize

e

P. 'goal' Superimpose the goal position if set 'nooverlay' Don't overlay the PRM graph
 

© 1990-2011 Peter Corke.