T
Truc, Tran Van
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Path planning for mobile objects based on modification of the probabilistic roadmap method

Abstract

The article formalizes the task of planning the trajectory of movement of mobile objects, and the minimum length of the trajectory is chosen as a criterion for the optimality of movement. When solving the problem, preference is given to the method of probabilistic route networks and modifications of this method are proposed. The study of the effectiveness of modified algorithms of probabilistic route networks is carried out using examples of solving the problem of automation and optimization of planning the trajectory of a mobile object in an external environment with restrictions on the size of the object. The developed software of the modified algorithms is illustrated by program listings and trajectories of movement of mobile objects.

article Article
date_range 2024
language English
link Link of the paper
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T
Truc Tran
K
Korikov Anatoly
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Featured Keywords
path planning
Probabilistic Roadmap Method
mobile objects
modification of PRM
program structure
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