Lecture 3: Sampling-based planning
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This lecture explains some main ideas of continuous motion planning using discretization and sampling:
- Configuration space and phase space
- Obstacles
- Rapidly-exploring Random Tree - RRT
- Optimal sampling-based motion planning - RRT*
Recommended texts:
- Section 5.1-5.5 of the book "Planning Algorithms" by LaValle Links to an external site..
- Sections 3.3 and 5 in S. Karaman & E. Frazzoli: ”Sampling-based algorithms for optimal motion planning". The International Journal of Robotics Research, 30(7), 846-894, 2011. Links to an external site.