机器人栅格地图编码与索引方法  

Coding and indexing method of robot grid maps

作　　者：张蓝天 王光霞[2] 刘旭 王玮琦 王慧芳 ZHANG Lantian;WANG Guangxia;LIU Xu;WANG Weiqi;WANG Huifang(Troops 61646,Beijing 100192,China;Information Engineering University,Zhengzhou 450052,China;Aviation University Air Force,Changchun 130022,China;Troops 61206,Beijng 100043,China)

机构地区：[1]61646部队,北京100192 [2]信息工程大学,郑州450052 [3]空军航空大学,长春130022 [4]61206部队,北京100043

出　　处：《测绘工程》2022年第3期23-30,共8页Engineering of Surveying and Mapping

基　　金：国家自然科学基金资助项目(42130112,42171456);中原学者科学家工作室资助项目;国家重点研发计划(2017YFB0503500);国家自然科学青年基金资助(41801317)。

摘　　要：机器人的感知、行动及空间推理决策等与所处环境息息相关,需要各种类型的环境模型来帮助机器人认知环境。当前机器人领域主要聚焦于实时感知、环境建模与路径规划的研究,少有环境模型管理的相关研究成果。文中以机器人环境模型管理作为研究切入点,着重研究机器人栅格地图的形式化描述及栅格编码与索引方法,规范栅格地图的表达形式并实现栅格地图的高效编码索引与联动更新,最后通过实例验证文中方法的可行性。Environment model is the basis of autonomous decision-making of mobile robot,and also the basis of multi robot team cooperation.Robot's perception,action,spatial reasoning and decision are closely related to the environment,so various types of environment models are needed to help robot recognize the environments.At present,the robot researchers mainly focus on the research of real-time perception,environment modeling,path planning and so on,but there is little research on environment model management.In this paper,the robot environment model management is taken as the research starting point,focusing on the formal description and grid coding and indexing method of robot grid maps,standardizing the expression form of grid map,and realizing the efficient coding index and linkage update of grid map.The feasibility of this method is verified by experiments.

关 键 词：机器人栅格地图 Hilbert空间填充曲线 栅格编码 

分 类 号：P208[天文地球—地图制图学与地理信息工程]