Path Planning Based on Improved Probabilistic Roadmap Method
Shucheng Xu · Fire Control and Command Control · 2012
For the demands of limited time and high level of memory in on-line Path Planning,an improved Probabilistic Roadmap Method(PRM) which is based on Genetic Algorithm(GA) was proposed. This path planning algorithm adopted the principle of hierarchical planning.In the off-line path planning, track corridor was established based on the optimal initial paths which was generate by GA,thus reducing the programming areas of PRM.The number of uniform random samples decreased dramatically when PRM was operated in track corridor.In on-line Path planning,the areas was also reduced,which resulted in reduced programming time.Simulation results showed that this method met the requirements of on-line Path planning better than the traditional PRM.