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	Lộ trình xác suất	Điều khiển Dự báo theo Mô hình	Cây Khám Phá Ngẫu Nhiên Nhanh
Lĩnh vực	Lý thuyết điều khiển	Lý thuyết điều khiển	Lý thuyết điều khiển
Họ	Machine learning	Machine learning	Machine learning
Năm ra đời	1996	1978	1998
Người khởi xướng	Lydia Kavraki	Jacques Richalet	Steven M. LaValle
Loại	algorithm	algorithm	algorithm
Công trình gốc	Kavraki, L. E., Svestka, P., Latombe, J. C., & Overmars, M. H. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4), 566-580.	Richalet, J., Rault, A., Testud, J., & Papon, J. (1978). Model predictive heuristic control. Automatica, 14(5), 413-428.	LaValle, S. M. (1998). Rapidly-exploring random trees: A new tool for path planning. Technical Report TR 98-11, Iowa State University.
Tên gọi khác	PRM, Roadmap Method	MPC, Receding Horizon Control	RRT, Incremental Sampling-based Algorithm
Liên quan	2	5	3
Tóm tắt	The Probabilistic Roadmap (PRM) method is a motion planning algorithm that builds a pre-computed graph (roadmap) of feasible paths through the configuration space by sampling random configurations and connecting them if collision-free. Introduced by Kavraki et al. in 1996, PRM is powerful for multi-query planning scenarios where many path queries are answered, amortizing roadmap construction cost across many queries.	Model Predictive Control (MPC) is an advanced control strategy that uses an explicit process model to predict future system behavior over a finite horizon and solves an optimization problem at each control step. First formalized by Richalet et al. in 1978, MPC has become the dominant approach in process control industries, from chemical plants to autonomous vehicles, because it naturally handles constraints and can optimize multiple objectives simultaneously.	The Rapidly-Exploring Random Tree (RRT) is a motion planning algorithm that builds a tree of feasible paths by iteratively sampling random configurations in the workspace and connecting them to the nearest existing node in the tree. Introduced by LaValle in 1998, RRT is a breakthrough for high-dimensional motion planning, enabling robots to find collision-free paths in complex environments with obstacles, joint limits, and kinematic constraints.