摘要
本文通过将经典4-交集模型扩展得到8-交集体模型,对三个简单区域间的关系进行表示,并具体得到了三个简单区域间实际存在的109种拓扑关系图.通过对三个简单区域间的109种拓扑关系进行研究,建立了拓扑关系的推理系统,给出了拓扑关系复合表,进而给出了109种拓扑关系的概念邻域图.本文所建立的拓扑关系模型,可用于对机器人与两个指定障碍物间的拓扑关系进行定性模拟,对制定机器人的避障机制具有一定的指导意义.
In this article, we got the 8- intersection model by extending the classic 4-intersection model, to represent the topological relation among three simple regions, and we specially obtained 109 kinds of topological relations among three simple regions. By researching 109 kinds of topological relations among three simple regions, we established the reasoning system of topological relation and gave the composite table.Further, we gave the conceptual neighborhood graph of 109 kinds of topological relations. The proposed topological relation model can be applied to qualitatively simulate the spatial relations between robots with two designated obstacles, which is useful to some extent in developing robot obstacle avoidance mechanism.
出处
《电子学报》
EI
CAS
CSCD
北大核心
2014年第1期125-129,共5页
Acta Electronica Sinica
基金
国家自然科学基金(No.61170092
No.61133011
No.60973088
No.60973089
No.61103091
No.11071026)
吉林省科技发展计划(No.20130522110JH)
关键词
定性空间推理
三个简单区域
机器人避障
qualitative spatial reasoning
three simple regions
robot obstacle avoidance
