关键词: 概率地图, 采样策略, 无人机, 路径规划

Abstract: Based on the sampling techniques，the Probabilistic Roadmap Method（PRM） discovers the connectivity of a configuration space very well，and has been successfully implemented in the motion planning field.But，when the sampled points are being connected to each other，collision check is an inevitable step，which is the most time-consuming operation of this method.A new sampling technique is proposed to solve the UAV path planning problem.Using this model，the collision check operation is not necessary.So the path planning operation is speeded up.

Key words: probabilistic roadmap method, sampling technique, Unmanned Aerial Vehicle（UAV）, path planning