Top Posts Tagged with #openprm

OpenPRM::Updates

OpenPRM has been updated significantly, some of the changes include but not limited to:

New Collision Checkers based on the Binary approach for faster collision checking

Addition of Halton Sampler known to generate significantly smaller number of samples compared to Uniform sampling for a similar scenario.

A new Spatial structure using Boost Graph Library to enable extensibility and ease of use of various Graph Algorithms

Improvements to the Visibility PRM algorithms implementation, showing a significant reduction in time taken and number of nodes in the roadmap for the same C-Space coverage

Introduction of Task Space Regions(TSR) for representing constraints in the Goal Configurations

#Motion Planning #roadmaps #openprm #probabilistic robotics

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OpenPRM getting ready

OpenPRM, Motion planning using Probabilistic Roadmaps is getting near full release with the completion of the SBL planner. The results so far looks awesome compared to other planners like RRTs. I expect to release the full openprm by next week when Visibility PRMs are done with. For more on the openprm development see the Openprm wiki.

#Motion Planning #openprm #planning