基于栅格法的移动机器人单元分解遍历方法研究

本文针对移动机器人的全区域遍历问题提出了一种基于栅格法的单元遍历分解方法.本文在普通单元分解法的基础上提出了一种改进的基于边沿基点的单元分解方式,保证了单元遍历的有序性和较强的可实现性.单元内部采用栅格法进行遍历,按照优先级搜索栅格有效地提高了路径选择速率.与单纯采用栅格法相比,栅格法同单元分解法的结合运用既能降低移动机器人在栅格定位过程中存在的累积误差,又保证了遍历的高效率和低重复率.文中对提出的遍历方法进行了动画仿真,从理论上验证了该方法的有效性.最后文章针对提出的遍历方法探讨了其实验平台的设计思路.

Research of the Unit Decomposing Traversal Method Based on Grid Method of the Mobile Robot

According to the traversal problem of mobile robot,a kind of improved unit decomposing traversal method based on grid method is proposed in this paper.Based on the ordinary unit decomposing traversal method,a kind of improved unit decomposing traversal method based on edge basic point is caught up,it ensures the order of the unit traversal and the feasibility of the method.In the unit,grid method is used to fulfill the traversal and searching the grid by priority raises the road selection speed effectively.In comparison with simplex grid method,the combination of the grid method and the unit decomposing method not only reduces the accumulation error while the robot is identifying the grid,but also ensures the high traversal inefficiency and low traversal repetition.Besides,a program is designed to carry on the animation simulation for the proposed traversal approach,which proves the inefficiency of the proposed method theoretically.Finally,the paper explores the way of designing a kind of experimental platform for the proposed method.