一种STEDF的可视图环境建模方法  

A STEDF Method of Visual Environment Modeling

作　　者：蒋林[1] 程文凯[1] 朱志超[1] 郭晨[1] JIANG Lin;CHENG Wen-kai;ZHU Zhi-chao;GUO Chen(School of Mechanical Automation,Wuhan University of Science and Technology,Hubei Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械设计与制造》2018年第5期253-255,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金(61105086)

摘　　要：提出的一种STEDF的可视图建模方法,可有效的提高环境模型建模效率,并且使移动机器人在路径规划的算法更加高效。在环境模型中通过删减融合一些不必要障碍物的手段,利用机器人所在的起始点、目标点和障碍物之间的关系,在不对路径规划的结果有影响的情况下建立一种极大程度下减少可视边的可视图。该方法在前期的环境建模中由于可视边是移动机器人的路径的原因,所以节约了很多环境建模的时间。根据有效的仿真结果可知,这里的方法极大程度的使路径规划算法的速率在原来的基础上取得了非常大的进步。The paper proposes a visual modeling method based on STEDF,it will improve the efficience of environment modeling and path planning.When the results of path planning is not affected,some unnecessary obstacles areeliminated in the environment model in the fusion processing.Then,the paper sets up view whose visual side is reduced under a great extent,based on the robot＇s starting point,target point and the relationship between the target and obstacles. The visible side is the path of mobile robot,so this method not only saves a lot of modeling time, but also improves the efficiency of path planning algorithm extremely.The simulation results show the effectivenesof the proposed method about path planning algorithm is greatly higher than the method proposed before.

关 键 词：移动机器人 环境建模 删减定向融合技术 融合边 可视图 多边形区域 

分 类 号：TH16[机械工程—机械制造及自动化] TP301.6[自动化与计算机技术—计算机系统结构]