Create or update your roadmap. To create the roadmap, call prm = robotics.PRM(map,__) or specify the Map property on the PRM object. Then, call the update, findpath, or show method. At this
How the inflate method performs probabilitistic inflation on obstacles to inflate their size and create a buffer zone for areas with a higher probability of obstacles.
Use the ConnectionDistance property on the PRM object to tune the algorithm. ConnectionDistance is an upper threshold for points that are connected in the roadmap. Each node is connected to
Create the map, set the obstacle locations and inflate it by a radius of 1m. Extra plots on the figure help illustrate the inflation and shifting due to conversion to grid locations.
Use the NumNodes property on the PRM object to tune the algorithm. NumNodes specifies the number of points, or nodes, placed on the map, which the algorithm uses to generate a roadmap. Using
Use the matchScans function to compute the pose difference between a series of laser scans. Compose the relative poses by using a defined composePoses function to get a transformation to the
When setting occupancy locations, you can input the locations in either grid or world coordinates. However, based on the limits of the grid, the locations are set to the closest grid