In PRM algorithm how much the Minimum number of nodes needs to find the path

if i am using PRM algorithm from robotics toolbox, how i can know the min number of nodes for each map?

Answer 1

[Sebastian Castro]

You don't! Probabilistic planning approaches have no guarantees, so you just have to pick something that succeeds most of the time for your given map(s) and then have a fallback plan when planning fails (i.e., the returned path is empty).

- Sebastian

[mohammed alany]

thank you Sebastian,

i found this information also from the literature

but, where can i find the equations which are used in source code