![]() Improved algorithm of RRT path planning based on comparison optimization. Where am I? A tutorial on mobile vehicle localization. Nanjing University of Science and Technology. The research on mobile robot control system design and algorithms. Through the improvement, the PRM algorithm is expected to provide better services and be applied to the field of mobile robots and manipulators. The improved algorithm is simulated in Matlab software, and the results show that the improved algorithm in this paper can effectively improve the efficiency and safety of the PRM algorithm in path planning. ![]() The expansion algorithm is used to expand the size of obstacles in the map, thereby avoiding the collision between the mobile robot and the environment. The calculation time, trajectory length, and calculation amount of the algorithm have been improved to improve the efficiency of the PRM algorithm. By improving the uniformity of node distribution in the map, the proportion of effective nodes is increased. In this article, the two aspects of the mobile robot PRM algorithm are improved. In addition, the obstacles between the path generated by the algorithm and the environment are too close, which makes the algorithm not safe enough. In severe cases, it may even lead to path planning failure. Owing to the uneven node distribution, motion planning is not highly effective. ![]() The probabilistic Road Map (PRM) algorithm is one of the path planning algorithms for mobile robots based on random nodes.
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