东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2013, Vol. 34 ›› Issue (10): 1383-1386.DOI: -

• 信息与控制 • 上一篇    下一篇

基于简化可视图的环境建模方法

张琦1，马家辰1,2，马立勇2   

  1. (1.哈尔滨工业大学航天学院，黑龙江哈尔滨150001；2.哈尔滨工业大学(威海)，信息与电气工程学院，山东威海264209)
  • 收稿日期:2013-02-26 修回日期:2013-02-26 出版日期:2013-10-15 发布日期:2013-05-24
  • 通讯作者: 张琦
  • 作者简介:张琦(1982-)，男，辽宁沈阳人，哈尔滨工业大学博士研究生；马家辰(1964-)，男，黑龙江佳木斯人，哈尔滨工业大学教授，博士生导师.
  • 基金资助:
    山东省自然科学基金资助项目(ZR2011FM005)；哈尔滨工业大学(威海)资助项目(IMVQ02020003).

Environment Modeling Approach Based on Simplified Visibility Graph

ZHANG Qi1， MA Jiachen1,2， MA Liyong2   

  1. 1. School of Astronautics， Harbin Institute of Technology， Harbin 150001， China; 2. School of Information and Electrical Engineering， Harbin Institute of Technology at Weihai， Weihai 264209， China.
  • Received:2013-02-26 Revised:2013-02-26 Online:2013-10-15 Published:2013-05-24
  • Contact: ZHANG Qi
  • About author:-
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摘要： 针对移动机器人全局路径规划中环境地图的构建问题，提出一种基于简化可视图的环境模型建立方法.该建模方法通过剔除环境中对路径规划结果不造成影响的障碍物来简化环境模型的表示.在环境建模期间，利用机器人的起点和目标点以及环境中保留的障碍物建立一种可视边的数量足够少的简化可视图，简化可视图中的可视边即为移动机器人的可行路径.根据简化可视图建立的环境地图提高了后续移动机器人路径规划算法的执行效率.仿真结果表明该建模方法简单且有效.

关键词: 移动机器人, 环境建模, 简化可视图, 多边形区域, 公切线

Abstract: To solve the problem of establishing environmental model in global path planning for mobile robot， an environment modeling approach was proposed on the basis of the simplified visibility graph. The representation of environmental model was simplified by eliminating obstacles in the environment which do not affect the result of path planning. In the process of environment modeling， the starting point and goal point of mobile robot and the reserved obstacles were used to establish the simplified visible graph in which the quantity of edges is small enough. The visible edges of simplified visible graph were the feasible paths for robot path planning. According to the environmental model established by the simplified visible graph， the efficiency of path planning algorithm was improved. The simulation results demonstrated that the proposed approach is simple and effective.

Key words: mobile robot, environment modeling, simplified visible graph, polyarea, common tangent

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