关键节点和平滑处理的PRM路径优化方法

魏念巍，姜媛媛，刘延彬，辛元芳，洪炎

Method of PRM Path Optimization Based on Key Nodes and Smooth Processing

WEI Nianwei, JIANG Yuanyuan, LIU Yanbin, XIN Yuanfang, HONG Yan

计算机工程与应用 . 2020, (16): 118 -123 . DOI: 10.3778/j.issn.1002-8331.1905-0442