Comparative Study of Probabilistic Cell Decomposition And Probabilistic Roadmap
نویسنده
چکیده
. This report looks at a new approach to motion planning known as Probabilistic Cell Decomposition (PCD). This approach combines ideas from Approximate Cell Decomposition (ACD) and Sampling-based motion planning to create a planner that can work in highdimensional static configuration space. This report first gives an overview of PCD and then describes the implementation of the planner along with implementation of Probabilistic Roadmap planner (PRM). In addition to that a basic comparison between the two has been done by running the planners on a set of problems. Finally, some of the implementation issues and possible ways of improving the planner are discussed.
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