Since the cost function of PRM does not recognize whether the next state is direct in front of the current state or slightly more right or left the predicted movement slightly swings a little to the right and to the left as the driver would be drunken.
Since the cost function of PRM does not recognize whether the next state is direct in front of the current state or slightly more right or left the predicted movement slightly swings a little to the right and to the left as the driver would be drunken.