基于角点PRM的移动机器人路径规划

Corner based PRM mobile robot path planning

首先使用Harris角点检测算法产生给定地图环境的角点,再从所有角点中取出一定数量的可行点,最后,执行A*算法后使用Cardinal样条曲线进行路径平滑。在不同地图中,将该算法与其他改进PRM算法对比,制定路径长度与算法用时2个指标,仿真结果表明,基于角点PRM算法提高了窄通道通过率达52%,路径长度最多减少了3%,算法用时最多减少了59%。

Harris corner detection algorithm is used to generate corner points for a given map and then several feasible points are picked out.The Cardinal spline curve is applied to smooth the path.According to different maps,the algorithm is compared with other improved PRM algorithms in terms of some evaluation indexes such as path length determination and time used.Simulation indicate that by using the corner based PRM,in the best case the narrow path connectivity rate is increased by 52%,path length is decreased by up to 3%,and the time used is decreased by up to 59%.