火力与指挥控制2012，Vol.37Issue(4)：121-124,4.
改进型概率地图航迹规划方法
Path Planning Based on Improved Probabilistic Roadmap Method
刘贤敏 1王琪 1许书诚1
作者信息
- 1. 南昌航空大学信息工程学院,南昌 330063
- 折叠
摘要
Abstract
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.关键词
概率地图/遗传算法/航迹走廊Key words
PRM/GA/track corridor分类
航空航天引用本文复制引用
刘贤敏,王琪,许书诚..改进型概率地图航迹规划方法[J].火力与指挥控制,2012,37(4):121-124,4.
