基于BIM的地图构建与导航研究

Research on Map Construction and Navigation Based on BIM

为了提高移动机器人在作业过程中获得现场环境地图的效率,提出了利用BIM技术建立导航地图的方式,获取IFC信息映射到二维栅格,从而快速构建地图;对于室内移动机器人在移动过程中能更快更好的到达目标点的问题,首先对传统A*算法做改进,将原有的8邻域搜索扩展为48邻域搜索,增加了搜索方向,优化了搜索角度;同时考虑了机器人的安全性,对规划路径进行了改进,使得规划的路径与障碍物保持了一定距离;其次,为了避开场地出现的动态障碍物,采用将改进的A*算法与动态窗口法融合,在保证全局路径最优的基础上,实现避障效果;通过实验仿真,表明了改进的A*算法比传统A*的算法在运行时间上快了2倍以上,路径转折点的角度差比原来减少了28%以上,路径长度上更短且不再紧贴障碍物;而融合算法比改进的A*算法在路径平滑性上有所提高,能及时避开随机障碍物,更加适用于环境变化的室内场景。

In order to improve the efficiency of the mobile robot in obtaining the scene environment map during the operation,a navigation map is established by using building information modeling(BIM)technology,and the industry foundation classes(IFC)information is obtained and mapped to a two-dimensional grid,so that the map can be quickly constructed.In order to make the indoor mobile robot reach the target point faster and better,Firstly,the algorithm of traditional A*is improved,and the original 8-neighborhood search is expanded to the 48-neighborhood search,which increases the search direction and optimizes the search angle.At the same time,considering the safety of robot,the planned path is improved,so that the planned path keeps a certain distance from the obstacles.Secondly,due to the emergence of dynamic obstacles in the site,the algorithm of improved A*is combined with the Dynamic Window Approach,which can not only ensure a better global path,but also achieve obstacle avoidance effect.Through the experimental simulation,it can be seen that the algorithm of improved A*improves the running speed by more than 2 times,reduces the turning angle difference by more than 28%,and reduces the path distance,and no longer clings to obstacles.Compared with the algorithm of improved A*,the fusion algorithm has better path smoothness,can avoid random obstacles in time,and is more suitable for the indoor environment of changing site.