基于空间映射的山地移动机器人环境建模方法

An Environment Modeling Method for Mountain Mobile Robots Based on Spatial Mapping

针对山地环境的特殊性,提出了一种基于空间映射的环境建模方法.通过离散化和空间映射,将三维曲面模型转化为由点集和点距集构成的二维平面模型,从而使三维路径规划问题降维成二维平面路径规划问题;同时,在点距集的生成过程中,利用目标函数来构造相应的点距函数,以使所建环境模型可适用于不同目标下的路径规划任务;最后,在MATLAB中利用蚁群算法对所建环境模型进行路径规划仿真实验,验证了该方法的可行性与通用性,同时将该方法与传统的栅格法和高程建模法进行对比,验证了该方法的优越性.

Aiming at the particularity of the mountain environment,an environment modeling method based on spatial mapping is proposed.By discretization and spatial mapping,the 3D surface model is transformed into a 2D plane model,which is composed of a point set and a distance set,so that the 3D path planning problem is transformed into a 2D path planning problem.Meanwhile,the objective function is used to build a point distance function in the mapping process.So this environment model can be applied for different path planning tasks.Finally,a simulation experiment is conducted to explore the feasibility and versatility of the proposed method in MATLAB.At the same time,the result is compared with those obtained by the traditional grid method and the elevation modeling method,and the proposed method is shown to have less computational complexity and higher modeling efficiency.