first two way-points generated by PRM are often very close together

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William Campbell
William Campbell on 8 Mar 2020
When generating paths using PRM generally the first two way-points are very close together and in 1 out 10 times can cause instability with the path following controller (only at the first way-point). If I delete one of these way-points in the plan everything works fine - any idea why PRM should generate the first two points with such close proximity evern when their position doesn't have a significant influence on the path trajectory in terms of collison avoidance of obstacles. I have tried different number of nodes and different connection distances but can still generate close points.

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