摘要
为了解决传统PRM算法在处理窄通道问题时的缺陷,提出了一种改进的PRM算法。通过在规划环境中引入人工势场,对落在威胁体内的点施加势场力,使之移动到自由空间内,从而增加窄通道内的节点数量,在不增加采样次数的情况下完成路线图的构建。仿真结果表明,改进PRM算法提高了采样点的利用率,缩短了存在窄通道环境中的路径构建时间,在突发威胁时能快速完成路径生成。
This paper proposed an improved PRM,which focused on the problem of narrow passages in the configuration space.Considering the configuration space with narrow passages,it introduced the artificial potential field to apply force to the initial points on the obstacle.The force drove these points to the free space.Then these points could be used to construct the roadmap.The roadmap could be gotten by less sampling.The simulation results shows that the improved PRM method can increase the planning efficiency.The improved PRM method enables road maps to reliably capture the connectivity of configuration spaces with narrow passages,and it performs well when the threaten break out.
出处
《计算机应用研究》
CSCD
北大核心
2012年第1期104-106,139,共4页
Application Research of Computers
基金
航空科学基金资助项目(20090753008)
关键词
航迹规划
概率图法
无人机
窄通道
path planning
probability roadmap method（PRM）
UAV
narrow passages
