mobileRobotPRM

创建概率路线图路径计划者

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Description

ThemobileRobotPRM对象是环境图的路径图路径计划对象Mapproperty. The object uses the map to generate a roadmap, which is a network graph of possible paths in the map based on free and occupied spaces. You can customize the number of nodes,NumNodes, and the connection distance,连接限制，为了适应地图的复杂性，并找到从启动到最终位置的无障碍路径。

定义地图后，mobileRobotPRMpath planner generates the specified number of nodes throughout the free spaces in the map. A connection between nodes is made when a line between two nodes contains no obstacles and is within the specified connection distance.

After defining a start and end location, to find an obstacle-free path using this network of connections, use thefindpath方法。如果findpathdoes not find a connected path, it returns an empty array. By increasing the number of nodes or the connection distance, you can improve the likelihood of finding a connected path, but tuning these properties is necessary. To see the roadmap and the generated path, use the visualization options inshow. If you change any of themobileRobotPRMproperties, callupdate,show, orfindpathto recreate the roadmap.

Creation

Syntax

planner = mobilerobotprm
planner = mobilerobotprm(map)
planner = mobilerobotprm(map,numnodes)

Description

planner= mobileRobotPRMcreates an empty roadmap with default properties. Before you can use the roadmap, you must specify abinaryOccupancyMap对象Mapproperty.

planner= mobileRobotPRM(map)creates a roadmap withmap设置为Map财产，哪里mapis abinaryOccupancyMap目的。

planner= mobileRobotPRM(map,numnodes)sets the maximum number of nodes,numnodes, to theNumNodesproperty.

Input Arguments

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Map representation, specified as abinaryOccupancyMap目的。This object represents the environment of the robot. The object is a matrix grid with binary values indicating obstacles as真的(1) and free locations asfalse(0).

Maximum number of nodes in roadmap, specified as a scalar. By increasing this value, the complexity and computation time for the path planner increases.

Properties

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Maximum distance between two connected nodes, specified as the comma-separated pair consisting of"ConnectionDistance"和标量为米。该属性控制节点是否基于其距离相互连接。节点仅在没有直接在路径中的障碍物时才连接。通过降低该值，连接数量减少，但复杂性和计算时间也减少了。

地图表示，指定为逗号分隔对"Map"和binaryOccupancyMap或者occupancyMap(Navigation Toolbox)目的。This object represents the environment of the robot. The object is a matrix grid with values indicating the occupancy of locations in the map.

Number of nodes in the map, specified as the comma-separated pair consisting of"NumNodes"和scalar. By increasing this value, the complexity and computation time for the path planner increases.

Object Functions

findpath Find path between start and goal points on roadmap
show Show map, roadmap, and path
update Create or update roadmap

兼容性考虑

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Behavior change in future release

Extended Capabilities

See Also

||(Navigation Toolbox)

Topics

Introduced in R2019b

Robotics System Toolbox Documentation

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