| 稀疏环境下基于射线的随机路径规划方法 |
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| 引用本文： | 高春晓,刘玉树,郑军.稀疏环境下基于射线的随机路径规划方法[J].北京理工大学学报(英文版),2002,11(1):89-92. |
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| 作者姓名： | 高春晓 刘玉树 郑军 |
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| 作者单位： | 北京理工大学,计算机科学与工程系,北京,100081 |
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| 基金项目： | theMinisterialLevelAdvancedResearchFoundation |
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| 摘 要： | 在研究稀疏环境下的高维动态路径规划问题中,提出基于射线的随机路径规划方法(RBPRM).该方法不同于一般的随机路径规划方法,它最大限度地利用直线段构造路径图,最终得到的路径相对而言短而且直.实验结果证明RBPRM在比较稀疏的环境中进行路径规划是非常有效的.
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| 关 键 词： | 路径规划 随机路径法 非碰撞 机器人 虚拟现实 |
| 收稿时间： | 2001/6/30 0:00:00 |
Radial Based Probabilistic Roadmap Motion Planning Method in Sparse Environment |
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| GAO Chun xiao,LIU Yu shu and ZHENG Jun.Radial Based Probabilistic Roadmap Motion Planning Method in Sparse Environment[J].Journal of Beijing Institute of Technology,2002,11(1):89-92. |
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| Authors: | GAO Chun xiao LIU Yu shu and ZHENG Jun |
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| Affiliation: | Department of Computer Science and Engineering, Beijing Institute of Technology, Beijing100081, China;Department of Computer Science and Engineering, Beijing Institute of Technology, Beijing100081, China;Department of Computer Science and Engineering, Beijing Institute of Technology, Beijing100081, China |
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| Abstract: | A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment. |
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| Keywords: | path planning probabilistic roadmap method collision avoidance robotics virtual reality |
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