Sunday, June 24, 2012

Probabilistic Road-map method (PRM)

Probabilistic road-map approach is used in robotics to find a path from the present configuration to the robots desired configuration. This is done by finding a path in the configuration space.


As shown above the path from the source to destination is plotted on the configuration space. I used the classical Dijkstra method to find the path. The sample input file and the main program are below.

Input

1 8
-7 20.5
-11 30.5
-18 16
-21.5 28
-7 25.5
-11 35.5
-18 21
-7 33
1 2 3 4
5 6 7 8
0 0
30 55
300 150 
76 91




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