What is the probability distribution used in PRM?

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Antonio Mendes
Antonio Mendes on 2 May 2019
Commented: Antonio Mendes on 20 Feb 2020
What is the probability distribution used to sample the points in the path planner of the probabilistic roadmap algorithm? Is there any way to change this?

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Accepted Answer

Cam Salzberger
Cam Salzberger on 13 May 2019
Hello Antonio,
The PRM class uses a uniform sampling within the map limits (and free space) to do the path planning. There is currently no way of changing the sampling algorithm used in the PRM class.
-Cam

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