Research on Constructing an Approximate Topological Graph and its Path Planning

摘要

This paper proposes a new method to construct an approximate Topological Graph based on the traditional constructing voronoi diagram by discrete grids,which combines the PRM (Probabilistic Roadmap Method) path planning thought.By means of the approximate topological graph and the hierarchical thought,the efficiency of path planning is improved.Meanwhile,this method can reduce the unnecessary collision detection and can be effectively used in the path planning of mechanical produce.In the end,this method is analyzed and evaluated,and meanwhile some improvements and simulations about this method are given.