Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning

Figure 17

Operating procedures of the suboptimal roadmap algorithm in the configuration space (150 nodes). (a) Initial state. (b) 1st iteration. (c) 5th iteration. (d) 25th iteration. (e) 50th iteration. (f) 100th iteration.

(a)

(b)

(c)

(d)

(e)

(f)