Smoothness and safety

Both the motion planners allow us to control how much the robot "worries" about its surroundings.

To get a smoother or safer path using the PRM planner, the Number of Samples and Edges per sample need to be increased accordingly. This makes the map better but makes the wait time longer.

Smart Motion uses a simple Path Quality slider with the following limits:

1.Coarse: This is used for wide-open spaces to get an answer immediately.

2.Fine: This is used for complex jobs. It forces the robot to take "tiny steps" to check for collisions and generate an overall smooth path.