| 基于连通度的拓扑分析法及其探测策略研究 |
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| 引用本文： | 贾梦雷,陈宗海. 基于连通度的拓扑分析法及其探测策略研究[J]. 系统工程与电子技术, 2006, 28(8): 1210-1214 |
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| 作者姓名： | 贾梦雷 陈宗海 |
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| 作者单位： | 中国科学技术大学自动化系,安徽,合肥,230027 |
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| 基金项目： | 国家自然科学基金资助课题(60575033) |
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| 摘 要： | 针对传统的基于栅格图的拓扑分析方法存在实时性差和理解困难,提出了一种新颖的基于连通度的拓扑分析法(topological analysis based on connection,TAC),该方法通过定义“连通度”的概念,改进通常的“障碍物膨胀法”,使之实现实时计算和对栅格图较好的拓扑理解。在此基础上,进一步提出了综合考虑几何与拓扑信息的探测策略,提高了机器人完成任务的效率。仿真实验及在ATU-Ⅱ机器人上的应用证明了策略的有效性。
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| 关 键 词： | 移动机器人 栅格图 连通度 拓扑分析 探测策略 |
| 文章编号： | 1001-506X(2006)08-1210-05 |
| 修稿时间： | 2005-08-02 |
Topological analysis based on connection and strategy research in robot exploration |
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| JIA Meng-lei,CHEN Zong-hai. Topological analysis based on connection and strategy research in robot exploration[J]. System Engineering and Electronics, 2006, 28(8): 1210-1214 |
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| Authors: | JIA Meng-lei CHEN Zong-hai |
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| Abstract: | According to two problems of the real-time requirement and comprehended on result topological for the traditional method of topological analysis based on grid map,a novel method of the topological analysis based on connection is proposed. The common approach "obstacle expandation" is modified by the use of a novel definition of "degree of connection".An exploration strategy based on the result topological map is also presented.Experiments in simulation and with real robot show the validity of the approach. |
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| Keywords: | mobile robot grid map degree of connection topological analysis exploration strategy |
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