PRM Pseudocode |

1: Generate a set of n configurations in free space S from some distribution 2: Let G = f, ethe empty graph on S. 3: for each configuration s 4: Find k neighbors for s 5: for each configuration s 6: if j > i and the local planner can find a collision-free path from s 7: then 8: add an edge (i,j) in G. 9: end if 10: end for 11: end for 12: return the graph G and the set S. |