Environment modeling method based on recursive reduced visibility graph

A modeling method and environment technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc., can solve problems such as erroneously simplifying obstacles, and achieve the effect of reducing the number and improving the execution efficiency.

Active Publication Date: 2017-02-22
DALIAN UNIV OF TECH
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AI Technical Summary

Problems solved by technology

However, there is a problem with the simplified visualization method, that is, the problem of incorrectly simplifying obstacles may occur in complex environments

Method used

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  • Environment modeling method based on recursive reduced visibility graph
  • Environment modeling method based on recursive reduced visibility graph
  • Environment modeling method based on recursive reduced visibility graph

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with accompanying drawing.

[0021] Such as figure 1 As shown, an environment modeling method based on recursively simplified visual graphs includes the following steps:

[0022] Step 1. Record the location and arrival position of the robot, record the location of the robot as point S, and record the expected arrival position as point G, and then use the computer to scan the entire map environment where the robot is located, and use a closed polygon to map each Obstacles are enveloped and these polygons are preserved;

[0023] Step 2. Connect S-H-G-L-S to form a quadrilateral, connect point S and point G, and the line segment SG is called the robot crossing line. At this time, the crossing line SG will intersect with multiple obstacle polygons, and record these intersecting obstacle polygons 2, 7, and 8 , and then find a point on both sides of the crossing line SG, which must meet the following two c...

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Abstract

The invention relates to an environment modeling method, in particular to an environment modeling method based on a recursive reduced visibility graph. The environment modeling method includes the steps: (1) recording the position of a robot and the reaching position of the robot; (2) connecting S-H-G-L-S to form a quadrangle; (3) traversing each current edge of the quadrangle; (4) judging whether the current edges are intersected with obstacles or not; (5) determining a middle point; (6) turning edges of a newly enclosed polygon S-A-H-B-G-L-C-S to the step 3 for traversing; (7) finishing traversing the current edges of the polygon. A polygonal area is finally obtained, all obstacles outside the rear can be simplified, and only the obstacles inside the area need to be considered by robot route planning. The number of visibility lines can be effectively decreased, and the executing efficiency of a subsequent robot route planning algorithm is improved.

Description

technical field [0001] The invention relates to an environment modeling method, in particular to an environment modeling method based on recursively simplified visual graphs. Background technique [0002] When a mobile robot moves in an environment with multiple obstacles, it needs to find an optimal path from the start point to the end point that can avoid all obstacles, such as the shortest path, the least time-consuming, and the lowest energy consumption. In order to solve this problem, mobile robots generally need to model the environment first when performing path planning. The existing environment modeling mainly includes: grid graph, tangent graph, Voronoi graph, probability graph, and visual graph. [0003] The modeling method based on the visual graph represents the obstacles in the environment through a convex polygonal envelope. The vertices of the polygon, together with the starting point and end point of the mobile robot, are regarded as mass points. The coordin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G06Q10/04
CPCG05D1/0221G06Q10/047
Inventor 吴振宇聂政李胜铭李航冯林
Owner DALIAN UNIV OF TECH
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