Implementation of the path planning algorithm M*
Pengfei Liu, Ruiqing Fu, Xinyu Wu, Yangsheng Xu · 2013
In decades, many researchers have came up with many path planning algorithms. Robots rely on sensor data to deduce inner and outer state as its position. Many localization algorithm suggests robot's knowledge of its position should be a probability distribution. However, previews path planning algorithms fell to utilize this information and just simply assume the robots to be in a single certain point. In this paper, we described the implementation of a new algorithm M* that takes the uncertainty of the robots location into detailed consideration. M* uses Monto Carlo method to represent probability distribution and by considering problem in high dimension space it transfer the problem into a neatly form. Some important concepts are introduced and pseudo code is used to show how them work.