https://blog.csdn.net/DinnerHowe/article/details/80267062

1, initialize by random sampling

PRM is not Not complete

Edge case:

only probably complete, one stratety is to generate more samples between closed barriers.

(PRM buiding the map, whcih can be used in multiple tasks, but it‘s not efficient when only have to solve one problem and search the entire free space)

Rapid Exploring Random Trees (RRT)

check if green node (new node in blue tree) can be lined to the red tree

not succeed

succeed this time

Example: Car-like robot

UPenn - Robotics 2:Computational Motion Planning - week 3: Probabilistic Road Maps