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提出了一种在区域内自动提取拓扑地图的混合算法.该算法通过定义拓扑点和线,在对已知环境定位的基础上,利用腐蚀法计算出所知环境的骨骼路径,应用区别算法区分出各个组成路径的拓扑点的属性值.考虑到在单独使用腐蚀法的情况下,无法准确地得到机器人路径规划所需的关键驻点位置及方向等信息,提出了一种改进的图像骨骼化混合算法,并提出了实现完整拓扑地图的约束方法,对传统的路径规划方法做出了改进.仿真实验表明,该方法生成的拓扑地图克服了传统算法中的缺点,得到了较好的结果.
A hybrid algorithm for automatically extracting topological maps in the region is proposed.This algorithm uses the corrosion method to calculate the skeleton path of the known environment by defining the topological points and the lines and locating the known environment, And the attribute values of the topological points of each component path are given out.According to the fact that the information such as the location and direction of the keystones needed for robot path planning can not be accurately obtained under the corrosion method alone, Hybrid algorithm is proposed and the method to realize the complete topology map is proposed.The traditional path planning method is improved.The simulation results show that the topology map generated by this method overcome the shortcomings of the traditional algorithm and get better results.