A PRM METHOD FOR PATH PLANNING BASED ON HEURISTIC NODE ENHANCING

Probabilistic Roadmap Method(PRM) is an efficient method for path planning of mobile robot. However, when it is used in complex environment, path planning becomes difficult or even impossible. To improve PRM′s efficiency and adaptability, a new node enhancing strategy is proposed which is based on heuristic method. Simulation is conducted, and the experiment results show that the proposed method is valid and efficient.