Calculation time

Speed in motion planning isn’t just about how fast the robot moves, but how long the planner takes to calculate.

The "query phase" in the PRM planner (finding the path on the map) is very fast, but it also comes with a very long "construction phase". It is great if the station is always static, but takes time if there are frequent changes being made.

Smart Motion uses an algorithm which is incredibly fast at solving a single "A to B" problem. It starts searching from both ends of the path at the same time and meets in the middle. This makes the "thinking time" almost unnoticeable for most common tasks.