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针对在线航迹规划对时间和内存要求较高,提出一种基于遗传算法的改进型概率地图算法。该方法引入分层规划的思想,在离线航迹规划时,利用遗传算法找到最优初始航迹并建立航迹走廊,以此来缩小概率地图的规划空间。概率地图方法在缩小后的空间中建立概率地图,自由线路数量大大降低,同时使得在线航迹规划搜索范围减少,时间缩短。仿真实例表明,该方案比传统PRM更能满足在线航迹规划的要求。
Aiming at the high time and memory requirements of online track planning, an improved probability map algorithm based on genetic algorithm is proposed. This method introduces the idea of hierarchical programming. When offline trajectory planning, using genetic algorithm to find the optimal initial track and establish the track corridor, the method reduces the planning space of the probability map. The probability map method establishes the probability map in the reduced space, greatly reduces the number of free lines, and at the same time reduces the search range of the online route planning and shortens the time. The simulation results show that this scheme can meet the requirements of online track planning better than the traditional PRM.