Lazy PRM algorithm Shortest Path(A") it goal Heuristic= distance to Build roadmap the goal Path length-distance between nodes Shortest Path(A") Enhancement Remove Colliding node/edge No path found Collision Check nodes Collision Check ed Lazy prm algorithm ■ Check nodes& Edges qinit qgoal Search from Start and Build Roadmap End for collisions First check nodes then Edges Shortest Node Path(a") nhanceme ent Remove Colliding node/edge No path found Collision eck Nodes Collisio Check edgLazy PRM Algorithm „ Shortest Path (A*) „ Heuristic = distance to the goal „ Path length = distance between nodes Build Roadmap Shortest Path (A*) Check Nodes Check Edges Remove Colliding node/edge Node Enhancement Collision Collision No path found qinit, qgoal Lazy PRM Algorithm „ Check Nodes & Edges „ Search from Start and End for collisions „ First check Nodes then Edges Build Roadmap Shortest Path (A*) Check Nodes Check Edges Remove Colliding node/edge Node Enhancement Collision Collision No path found qinit, qgoal