基于PRM的移动机器人路径规划算法
Mobile Robots Path Planning Algorithm Based on PRM
李志鹏1
作者信息
- 1. 山西工程技术学院,山西阳泉 045000
- 折叠
摘要
随着制造、物流、服务和危险环境领域需求的增加,对移动机器人执行多样任务的要求日益显著,推动了移动机器人技术的迅速发展.尤其是在未知环境中智能移动方面,高效路径规划成为研究焦点.为此,提出了一种基于概率路线图(PRM)的路径规划优化算法,旨在改进采样策略,提高采样效率,从而提升路径规划的效率和准确性.通过MATLAB平台进行仿真验证,证明了该方案的有效性.
Abstract
With the increasing demand in the fields of manufacturing,logistics,services,and hazardous environments,the demand for mobile robots to perform diverse tasks is becoming increasingly significant,driving the rapid development of mobile robot technology.Especially in the field of intelligent mobility in unknown environments,efficient path planning has become a research focus.To this end,a path planning optimization algorithm based on probabilistic road map(PRM)is proposed,aiming to improve the sampling strategy,enhance sampling efficiency,and thus enhance the efficiency and accuracy of path planning.The effectiveness of this scheme was verified through simulation on the MATLAB platform.
关键词
移动机器人/路径规划/概率路线图/采样策略Key words
mobile robots/path planning/probabilistic road map/sampling strategies引用本文复制引用
出版年
2024
NETL
NSTL
万方数据