이동 로봇 계획

Demonstrates how to compute an obstacle-free path between two locations on a given map using the Probabilistic Roadmap (PRM) path planner. PRM path planner constructs a roadmap in the free space of a given map using randomly sampled nodes in the free space and connecting them with each other. Once the roadmap has been constructed, you can query for a path from a given start location to a given end location on the map.

Create a map of an environment using range sensor readings and robot poses for a differential drive robot. You create a map from range sensor readings that are simulated using the rangeSensor object. The differentialDriveKinematics motion model simulates driving the robot around the room based on velocity commands. The rangeSensor gives range readings based on the pose of the robot as it follows the path.