基于简化可视图的环境建模方法

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.

Environment Modeling Approach Based on Simplified Visibility Graph

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.