MultiPRM: a fast multigoal path planning method for IoT

Sampling-based path planning algorithms are widely used to solve path planning problems, among which the probabilistic roadmap (PRM) algorithm is one of the popular algorithms. In the context of the integration of mobile robots and the Internet of Things (IoT), a fast new PRM-based multi-goal path planning method is proposed, and the corresponding functions are designed and implemented. Theoretical validation and experimental results show that the method can successfully solve the multi-goal path planning problem while having good performance