Survey of Robot 3D Path Planning Algorithms

Algorithm 4

Whole PRM.

is the vertices set according to the node choose method claimed ahead;

means no obstacle between and ;

is the path vertex set, is the path edges set;

(1) ; ;

(2) for to

(3)  ← the th sample state in

(4)  ← (_PRM or -ball or )∖

(5)    

(6)  for each

(7)    if

(8)      ,

(9)   End; End;

(10) End;

Return