Robotics: Cracking Path Planning

Overview

Graph-based Path Planning Method

Dijkstra Algorithm

A* Algorithm

Sample-based Path Planning Method

Probalistic Road Maps (PRM) Algorithm

Rapidly Exploring Random Trees (RRT) Algorithm

Artificial Potential Fields

Future Topics

  • Non-holonomic Systems
    • (i.e.Car-like vehicle)
    • What happens when you cannnot move freely in all directions?
    • motion constraints
  • Kinodynamic Planning
    • Planning in the face of dynamic constraints
  • Planning for Multiple Robots
  • Planning with Moving Obstacles
  • Planning in the face of uncertainty