Study on path planning based on improved PRM method
基于改进PRM算法的路径规划研究*

This paper proposed an improved PRM,which focused on the problem of narrow passages in the configuration space.Considering the configuration space with narrow passages,it introduced the artificial potential field to apply force to the initial points on the obstacle.The force drove these points to the free space.Then these points could be used to construct the roadmap.The roadmap could be gotten by less sampling.The simulation results shows that the improved PRM method can increase the planning efficiency.The improved PRM method enables road maps to reliably capture the connectivity of configuration spaces with narrow passages,and it performs well when the threaten break out.