Maximizing the Coverage of Roadmap Graph for Optimal Motion Planning

Figure 18

Roadmaps constructed by the suboptimal roadmap algorithm with respect to the number of nodes after 100 iterations. (a) N = 50; (b) N = 100; (c) N = 150; (d) N = 200; (e) N = 250; (f) N = 300.

(a)

(b)

(c)

(d)

(e)

(f)