Probabilistic Roadmap (PRM)

Implementation of the probabilistic roadmap algorithm in ROS for path planning.

Rviz Environment

Approach

1. Generate n random points in a given environment.
2. Remove points that collide with objects.
3. Create every node with it's k nearest neighbors.
4. Remove edges that collide with objects.
5. Execute a shortest path algorithm (like Dijkstra's algorithm) to determine the shortest path to the goal position.

Example

n = 3000 and k = 5 map

References

• Referenced KaleabTessera/PRM-Path-Planning
• Starter code provide through affiliation with VAIL