Machine learningMotion Planning
概率路线图
概率路线图（PRM）方法是一种运动规划算法，它通过采样随机配置并连接无碰撞的配置来构建一个预先计算好的可行路径图（路线图）。PRM 由 Kavraki 等人于 1996 年提出，对于多查询规划场景非常强大，因为它可以将路线图构建成本分摊到许多查询中。
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来源
- Kavraki, L. E., Svestka, P., Latombe, J. C., & Overmars, M. H. (1996). Probabilistic roadmaps for path planning in high-dimensional configuration spaces. IEEE Transactions on Robotics and Automation, 12(4), 566-580. DOI: 10.1109/70.508439 ↗
- Overmars, M. H., & Svestka, P. (1992). A probabilistic learning approach to motion planning. Proceedings of the Fourth Workshop on Algorithmic Foundations of Robotics, 19-37. link ↗
- LaValle, S. M. (2006). Planning Algorithms. Cambridge University Press. link ↗
如何引用本页
ScholarGate. (2026, June 3). Probabilistic Roadmap. ScholarGate. https://scholargate.app/zh/control-theory/probabilistic-roadmap
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Set this method beside its closest kin and read them side by side — the library lays the books on the table; the choice is yours.
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