基于PRM改进的路径规划算法  

Improved Path Planning Algorithm Based on PRM

作　　者：邹善席 王品[2,3] 韩旭[3] ZOU Shan-xi;WANG Pin;HAN Xu(University of Chinese Academy of Sciences,Beijing 100049,China;National Engineering Research Center for High-end CNC,Shenyang Institute of Computing Technology,Chinese Academy of Sciences,Shenyang 110168,China)

机构地区：[1]中国科学院大学,北京100049 [2]中国科学院沈阳计算技术研究所高档数控国家工程研究中心,沈阳110168 [3]沈阳高精数控技术有限公司,沈阳110168

出　　处：《组合机床与自动化加工技术》2019年第1期1-3,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：高档数控机床与基础制造装备国家科技重大专项;高档数控机床在梁框肋等典型飞机结构件制造领域的综合示范应用(2017ZX04001001)

摘　　要：针对规划环境中障碍物较多,采样节点较少时,移动机器人使用传统PRM算法难以规划出路径的问题,提出一种改进的PRM算法,通过随机节点生成函数在自由空间生成随机节点,取代落在障碍物中的节点,在采样节点数目不变的情况下,提高自由空间中的节点数目,配合改进的节点增强法,优化路径,减少路径中的节点数目,完成路径规划。仿真结果验证了本算法的有效性,改进后的PRM算法能用较少的随机采样点找到一条可行路径,提高了节点的利用率,降低了路径中节点数目。In order to solve the problem that the traditional PRM algorithm is difficult to plan the path when the sampling node is less,an improved PRM algorithm is proposed.By random node generating function,random nodes are generated in free space to replace nodes in obstacles.With the improved node enhancement method,the collision node is replaced and the number of nodes in the path is reduced.Without increasing the number of sampling nodes,the path planning is completed.The simulation results show that the improved PRM algorithm improves the utilization of sampling nodes and reduces the number of nodes in the path.

关 键 词：PRM算法 路径规划 机器人 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]