Different from general probabilistic roadmap motion planning methods, it uses straight lines as long as possible to construct a path graph, so the final path obtained from the graph is relatively shorter and straighter.

• 该方法不同于一般的随机路径规划方法 ；它最大限度地利用直线段构造路径图 ；最终得到的路径相对而言短而且直 .