WSEAS Transactions on Systems and Control
Print ISSN: 1991-8763, E-ISSN: 2224-2856
Volume 10, 2015
PRM Path Planning Optimization Algorithm Research
Authors: ,
Abstract: Under limited environment, PRM (probabilistic roadmap method) algorithm is used to plan initial path in mobile robot path planning，a path optimization algorithm is proposed based on the improved node method and geometric smooth strategy. The node enhancing method is used to optimize the initial planning with the base PRM algorithm, the original path nodes are gradually substituted by some new nodes, and the number of the inflection points will be reduced greatly in the path, thus the length of path will be shorten. At the same time, a new strategy of geometric optimization is used to smooth the optimized path, the path smoothing is achieved. The simulation result shows that the algorithm can reduce the length of the searched path, the smoothness of the path is greatly improved.
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Pages: 148-153
WSEAS Transactions on Systems and Control, ISSN / E-ISSN: 1991-8763 / 2224-2856, Volume 10, 2015, Art. #16