机器人2012，Vol.34Issue(4)：476-484,9.DOI:10.3724/SP.J.1218.2012.00476
一种移动机器人环境模型——灰色定性地图
An Environment Model for Mobile Robot:Grey Qualitative Map
摘要
Abstract
Aiming at the environment modeling for mobile robot, a hybrid environment model including characteristics of both topological map and geometrical map is proposed, named grey qualitative model. The free space of environment is decomposed into a group of convex polygons by convex decomposition algorithm. The convex polygons and the adjacency relationship between them compose the qualitative level of grey qualitative map, which is used to simulate high-level qualitative reasoning for path planning of human. The quantitative level is composed of coordinates and potential field vectors of vertices of each convex polygon, which is used to determine the motion direction and speed of robot in continuous space. Theoretical analysis and experiments show that the grey qualitative map can simulate the expression of environment of human, and can support the robot complete path planning and ensure the smoothness of the path only by adjacency information and vertices information of convex polygons. The proposed method effectively reduces the space complexity of environment model.关键词
灰色定性地图/环境建模/混合地图/移动机器人Key words
grey qualitative map/ environment modeling/ hybrid map/ mobile robot分类
信息技术与安全科学引用本文复制引用
李书杰,王鹏,陈宗海..一种移动机器人环境模型——灰色定性地图[J].机器人,2012,34(4):476-484,9.基金项目
国家自然科学基金资助项目(61075073). （61075073）
