PRM path planning optimization algorithm research
نویسندگان
چکیده
The PRM (probabilistic roadmap method) path planning algorithm is applied to the mobile robot path planning problem of limited environment. And a path optimization algorithm based on modified node enhancement strategies and geometric smoothing is proposed. The node enhancing method is used to optimize the initial planning with the base PRM algorithm, the original path nodes are gradually substituted by some new nodes, and the number of the inflection points of path will be reduced greatly. thus the length of path will be shorten. At the same time, a new strategy based on geometric optimization iS used to smooth the optimized path in order to achieve the purpose of smoothing the path. The simulation result shows that the algorithm can not only reduce the length of the searched path. but also greatly improve the smoothness of the path. Key-Words: mobile robot, path planning, PRM algorithm, node enhancing, routine optimization
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