With this project, I demonstrate 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.
(Important - Please make sure you have Robotics System Toolbox Add-On installed on your MATLAB)
The following project has been executed in MATLAB R2021a version
Results-
Simulation for Differential Drive Robot-
Unknown Mapping Simulation-
(IMPORTANT: Ensure that MappingWithKnownPosesDiffDriveExample is added to your MATLAB file path, for convinience I have added that file with the other commits under the header "Unknown Mapping")
Simulink Simulation-
