Finally, the improved algorithm is applied to the actual mobile robot navigation experiment. The experimental results have proven that the path planning strategy was able to a superior advantage over traditional PRM in path quality and computational time.Ma, Xiaolu...
2. Basic Principle of PRM The traditional PRM is an algorithm based on graph search, which constructs an undirected path network diagram by screening and selecting random sampling points, and then selects the most suitable path. Its basic idea is to use a random network diagram to represent th...
Current motion planning algorithms are based on the grid search method (A*), artificial potential field method (APF), probabilistic roadmap method (PRM) and rapidly exploring random tree (RRT) algorithm [5]. Among them, the grid search method can ensure complete resolution and an optimal soluti...
Path planning algorithms that are now widely studied include heuristic search based on the A* algorithm [1], online path planning Dijkstra star (D*) [2], Ant Colony algorithm [3] and others. Research on A* algorithm is also endless, A* algorithm integrates the Artificial Potential Field (...
The traditional A* algorithm suffers from issues such as sharp turning points in the path, weak directional guidance during the search, and a large number of computed nodes. To address these problems, a modified approach called the Directional Search A*
For example, a Bézier curve-based model has been investigated for path planning, where a novel Chaotic Particle Swarm Optimization (CPSO) algorithm has been proposed to optimize the control points of Bézier curve [23]. However, this approach has not been utilized in the complex environment of...
It adjusts the light path estimates based on observed spectral features, helping to correct for potential errors due to scattering effects. This algorithm is particularly useful for processing data from scenes with complex cloud and aerosol Scientific Reports | (2025) 15:766 | https://doi.org/...
path planningprobability roadmap method(PRMUAVnarrow passagesThis 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 ...
Algorithm comparison between A* and PRM on indoor fire simulation 2020 International conference on mechatronics, electronics and automotive engineering, IEEE (2020), pp. 23-28 CrossrefView in ScopusGoogle Scholar [57] Burgueño Romero A., Ruiz Sarmiento J., Moreno Dueñas F., Gonzalez Jimenez...
Next, graph search algorithm is used to search the shortest path from the start point to the goal point. Finally, simulations are carried out to evaluate the validity of the proposed method. Results show that the improved PRM method is more effective for path planning with narrow passages....