摘要
首先分析解决机器人运动规划问题的Visibility-PRM算法。然后针对其在复杂工作空间运动规划中表现出的roadmap连通子图数多、可视性判断效率低等局限性,提出基于障碍物边界采样改进的Visibility-PRM算法(Obs-Visi-PRM)。通过改进采样和连通的策略,减少了roadmap的连通子图数,降低了碰撞检测次数。最后通过实例分析,证明Obs-Visi-PRM算法的有效性。
In robotic motion planning, Visibility -PRM algorithm has the shortcomings such as low connectivity,low effectiveness in visibility judgment etc.In this paper,we have proposed an improved Visibility-PRM algorithm（Obs-Visi- PRM）based on reformative obstacle boundary sampling method.This method adopts the strategy of improved sampling and connectivity,thus it can increase the connectivity of roadmap and reduce the detection times.Finally,some instances are analyzed and show Obs-Visi-PRM algorithm＇s effectiveness.
出处
《计算机工程与应用》
CSCD
北大核心
2005年第25期81-84,共4页
Computer Engineering and Applications
