Path Planning of Mobile Robot Based on Improved PRM Based on Cubic Spline

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2022/1632698/figures/1632698.fig.0012a.svgz" name="1632698.fig.0012a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>PRM</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2022/1632698/figures/1632698.fig.0012b.svgz" name="1632698.fig.0012b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Bidirectional PRM diagram</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/wcmc/volume-2022/1632698/figures/1632698.fig.0012c.svgz" name="1632698.fig.0012c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Cubic spline bidirectional PRM</td></tr></table>

<div>Comparison of three algorithms under target node 2.</div>

Wireless Communications and Mobile Computing

fig12

Figure 12

Figure 12: Path Planning of Mobile Robot Based on Improved PRM Based on Cubic Spline 