Computer Engineering and Applications ›› 2020, Vol. 56 ›› Issue (16): 118-123.

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

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

1. College of Electrical and Information Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, China
• Online:2020-08-15 Published:2020-08-11

### 关键节点和平滑处理的PRM路径优化方法

1. 安徽理工大学 电气与信息工程学院，安徽 淮南 232001

Abstract:

Aiming at the problem that the excessive path inflection nodes and steep partial turning angles of Probability Roadmap（PRM） algorithm used in mobile robot path planning, a PRM path optimization method is proposed. The PRM algorithm uses random sampling when constructing the path network graph, the path is not optimal and there are too many nodes in the path. Douglas-Peucker（D-P） algorithm is used to extract the key nodes in the initial path nodes generated by PRM. Then the key nodes are instead of the original initial path nodes in order to reduce the number of inflection nodes in the path. Moreover, using Clothoid curve to smooth the new path generated by key nodes. Simulation results show that the optimization method can reduce the number of path nodes and make the path smoother.