论文部分内容阅读
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。
In order to solve the shortcomings of traditional PRM in narrow channel, an improved PRM algorithm is proposed. By introducing an artificial potential field into the planning environment, a potential field force is applied to the point within the threatening body to move it into free space, thereby increasing the number of nodes in the narrow channel and completing the roadmap without increasing the number of samplings Construction. The simulation results show that the improved PRM algorithm can improve the utilization rate of sampling points and shorten the path construction time in the narrow-channel environment, and can quickly complete the path generation in the event of a sudden threat.