| 改进的概率路径图法 |
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| 引用本文： | 陈家照,张中位,徐福后.改进的概率路径图法[J].计算机工程与应用,2009,45(10):54-55. |
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| 作者姓名： | 陈家照 张中位 徐福后 |
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| 作者单位： | 第二炮兵工程学院201教研室,西安,710025 |
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| 摘 要： | 概率路径图法(PRM)是最主要的运动规划算法之一,针对概率路径图法在复杂环境中规划效率低下的缺点提出了一种改进的概率路径图法,新方法的采样采用了分阶段混合采样策略。最后通过与传统的PRM方法进行仿真实验比较,结果表明改进后的PRM方法能够较大的提高规划效率。
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| 关 键 词： | 概率路径图法 复杂环境 采样策略 |
| 收稿时间： | 2008-2-20 |
| 修稿时间： | 2008-5-15
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Modified prosbilistic roadmap method |
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| CHEN Jia-zhao,ZHANG Zhong-wei,XU Fu-hou.Modified prosbilistic roadmap method[J].Computer Engineering and Applications,2009,45(10):54-55. |
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| Authors: | CHEN Jia-zhao ZHANG Zhong-wei XU Fu-hou |
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| Affiliation: | CHEN Jia-zhao,ZHANG Zhong-wei,XU Fu-hou The Second Artillery Engineering College,Xi'an 710025,China |
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| Abstract: | The probabilistic roadmap approach is one of the leading motion planning techniques.This paper provides an improved PRM method,the new method using two different sampling strategies in different stage,and it can overcome the PRM's shortcoming(low connectivity in complex environment).At last this paper tests the new method by several experiments,the result suggests that the improved method can increase the planning efficiency. |
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| Keywords: | Probabilistic Roadmap Method（PRM） complex environment sampling strategy |
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