CAJ | 학술논문

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.
제출료일충구형분해적배경건모방법.해방법모형용배경분해출적절점급절점지간적련접관계망락래표시.배경건모수선장배경분해위정방형구역,구역중심점대표해구역위치.재린근구역유장애물정황하,확대정방형변장형성구형구역,유리우제고국부편력효솔.재저충배경건모사상하,제출료일충포함국부화전국2층결구로경규화하적궤기인편력방법.재전국로경규화중자구역지간적탐색채용료기우지식규칙적방법,정의료결정국부자구역향주위구역이동적일유우선권수조,해수조종합표정료본구역여상린구역적편력정황、련통관계화용호정의우선권급별.국부자구역근거배경형상채용모판필배법실현편력.방진실험결과설명,해방법간단、고효,병괄합해결복잡이유배경편력문제.
The environment modeling algorithm namedrectangular decomposition, which is composed of cellular nodesand interleaving networks, is proposed. The principle ofenvironment modeling is to divide the environment intoindividual square sub-areas. Each sub-area is orientated by thecentral point of the sub-areas called a node. The rectangular mapbased on the square map can enlarge the square area side size toincrease the coverage efficiency in the case of there being anadjacent obstacle. Based on this algorithm, a new coveragealgorithm, which includes global path planning and local pathplanning, is introduced. In the global path planning, uncoveredsubspaces are found by using a special rule. A one-dimensionalarray P, which is used to obtain the searching priority of node inevery direction, is defined as the search rule. The array P includesthe condition of coverage towards the adjacent cells, the conditionof connectivity and the priorities defined by the user in all eightdirections. In the local path planning, every sub-area is coveredby using template models according to the shape of theenvironment. The simulation experiments show that the coveragealgorithm is simple, efficient and adapted for complex two-dimensional environments.