移动机器人基于近似Voronoi图的3-D环境建模方法  

3-D Environmental Modeling Method Based on Approximate Voronoi Diagram for Mobile Robot

作　　者：邹小兵[1] 蔡自兴[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《计算机仿真》2005年第12期102-105,共4页Computer Simulation

基　　金：国家自然科学基金重点资助项目(60234030)

摘　　要：提出一种三维复杂环境下移动机器人的环境建模与分析方法。通过平滑滤波得到环境地形高度变化的轮廓基本特征,以一阶微分方法分析满足移动机器人运行的平坦性,建立投影平面上的可行区域图。应用改进的近似Voronoi边界网络构造方法得到可行区域的网络化结构模型。该方法能够以较少的网络节点反映移动机器人运行环境中可行区域的网络化结构,从而降低路径规划的计算复杂度。该模型方法体现了三维环境的地形轮廓特征,因此能够有助于导航中的规划与定位问题的解决。This paper presents an environmental modeling and analytical method for mobile robots under 3 - D environment. A smooth filter is adopted to analyze the contour features of environment, and the differential flatness feature map on projection plane is obtained with one order difference equation. The improved Approximate Voronoi Boundary Network method based on enlarging obstacles raster embodies the network structure of the environmental free area with few nodes, so the complexity of path planning problem is reduced largely. Especially the network illustrates the basic contour features of the environment, so it can be a help to the autonomous localization during the navigation of mobile robots.

关 键 词：移动机器人 环境建模 图 路径规划 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]