The probabilistic road-map approach is used in robotics to find a path from the present configuration to the robot's desired configuration. This is done by finding a path in the configuration space.
As shown above, the path from the source to the 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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