一种新的移动机器人环境模型

A NEW ENVIRONMENT MODEL FOR MOBILE ROBOTS

环境建模是移动机器人路径规划的基础．针对部分已知或完全未知的环境，本文提出一种基于位置码的四叉树环境模型，通过建立四叉树节点位置码与其笛卡尔坐标的一一对应关系，将对四叉树的操作转换到位置码空间，从而简化了对四叉树的操作．文中研究了基于位置码的四叉树的重要操作，并给出了详细的算法；基于该模型，作者利用 Ａ算法进行路径规划的仿真研究，仿真结果证明了该模型的有效性．

Environment modeling is the basis for path planning of mobile robots. In this paper, a novel quadtree environment model based on location code is proposed for partially known or completely unknown environments. According to the one-to-one relationship between location codes of quadnodes and Cartesian coordinates, operations on quadtree are converted to the location code space, thus the operations are simplified. Several important operations are investigated and the detailed algorithms are also given. Based on the environment model, A * algorithm is applied to the path planning. The results demonstrate the validity of the proposed model.