基于启发式节点增强策略的PRM路径规划方法

针对一般的PRM方法用于移动机器人对复杂地形路径搜索存在的缺陷 ,本文对PRM方法进行了改进 ,提出了一套基于启发式的节点增强的策略 ,提高了PRM方法节点增强阶段对环境的适应性 .此外 ,本文建立了相应的仿真实验系统对策略的有效性进行了实验与分析

Probabilistic Roadmap Method(PRM) is an efficient method for path planning of mobile robot. However, when it is used in complex environment, path planning becomes difficult or even impossible. To improve PRM′s efficiency and adaptability, a new node enhancing strategy is proposed which is based on heuristic method. Simulation is conducted, and the experiment results show that the proposed method is valid and efficient.

国家自然科学基金资助 (60 1 750 30 ) ;;中国科学院沈阳自动化研究所机器人学开放研究实验室基金课题 (2 0 0 1 1 1 )