# Probablistic Road Map

伪代码： ![Alt text](../../../../.gitbook/assets/1546200547561.png)

1. 生成随机图：

   ![Alt text](../../../../.gitbook/assets/1546200571261.png)

2. 碰撞检测![Alt text](../../../../.gitbook/assets/1546200603529.png)
3. 用图规划问题的算法求解

   ![Alt text](../../../../.gitbook/assets/1546200682136.png)