Implementation of the path planning algorithm M*

In decades, many researchers have came up with many path planning algorithms. Robots rely on sensor data to deduce inner and outer state as its position. Many localization algorithm suggests robot´s knowledge of its position should be a probability distribution. However, previews path planning algorithms fell to utilize this information and just simply assume the robots to be in a single certain point. In this paper, we described the implementation of a new algorithm M* that takes the uncertainty of the robots location into detailed consideration. M* uses Monto Carlo method to represent probability distribution and by considering problem in high dimension space it transfer the problem into a neatly form. Some important concepts are introduced and pseudo code is used to show how them work.