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提出了一种矩形分解的环境建模方法.该方法模型用环境分解出的节点及节点之间的连接关系网络来表示.环境建模首先将环境分解为正方形区域,区域中心点代表该区域位置.在邻近区域有障碍物情况下,扩大正方形边长形成矩形区域,有利于提高局部遍历效率.在这种环境建模思想下,提出了一种包含局部和全局2层结构路径规划下的机器人遍历方法.在全局路径规划中子区域之间的探索采用了基于知识规则的方法,定义了决定局部子区域向周围区域移动的一维优先权数组,该数组综合表征了本区域与相邻区域的遍历情况、连通关系和用户定义优先权级别.局部子区域根据环境形状采用模版匹配法实现遍历.仿真实验结果说明,该方法简单、高效,并适合解决复杂二维环境遍历问题.
A rectangular decomposition environment modeling method is proposed in this paper.The model is expressed by the environment decomposition node and the connection network between the nodes.Environment modeling first decomposes the environment into square areas and the center of the area represents the location of the area In the case of obstacles in the adjacent area, expanding the rectangular side length to form a rectangular area is beneficial to improve the local traversal efficiency.In this environment modeling method, a robot with local and global two-level structure path planning Traversal method.Exploration among sub-regions in global path planning employs a knowledge-based approach that defines a one-dimensional priority array that determines the movement of local sub-regions to the surrounding region, which comprehensively characterizes the relationship between this region and its adjacent regions The traversal, connectivity and user-defined priority of local sub-region are realized by template matching according to the environment shape.The simulation results show that this method is simple and efficient, and is suitable for solving complex two-dimensional environment traversal problems.