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Radial Based Probabilistic Roadmap Motion Planning Method in Sparse Environment
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作者 高春晓 刘玉树 郑军 《Journal of Beijing Institute of Technology》 EI CAS 2002年第1期89-92,共4页
A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, ... A new dynamic path planning method in high dimensional workspace, radial based probabilistic roadmap motion (RBPRM) planning method, is presented. Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter. Experimental results show the efficiency of the algorithm in finding shorter paths in sparse environment. 展开更多
关键词 path planning probabilistic roadmap method collision avoidance ROBOTICS virtual reality
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Multi-Branch Cable Harness Layout Design Based on Genetic Algorithm with Probabilistic Roadmap Method 被引量:2
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作者 Yingfeng Zhao Jianhua Liu +1 位作者 Jiangtao Ma Linlin Wu 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2021年第2期68-78,共11页
Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness... Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness can affect the route of the cable harness layout.The topological structure design of the cable harness is a key to such a layout.In this paper,a novel multi-branch cable harness layout design method is presented,which unites the probabilistic roadmap method(PRM)and the genetic algorithm.First,the engineering constraints of the cable harness layout are presented.An obstacle-based PRM used to construct non-interference and near to the surface roadmap is then described.In addition,a new genetic algorithm is proposed,and the algorithm structure of which is redesigned.In addition,the operation probability formula related to fitness is proposed to promote the efficiency of the branch structure design of the cable harness.A prototype system of a cable harness layout design was developed based on the method described in this study,and the method is applied to two scenarios to verify that a quality cable harness layout can be efficiently obtained using the proposed method.In summary,the cable harness layout design method described in this study can be used to quickly design a reasonable topological structure of a cable harness and to search for the corresponding routes of such a harness. 展开更多
关键词 Cable harness layout Probabilistic roadmap method Genetic algorithm Hybrid fuzzy control
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