Research And Implementation Of Multilevel Environment Modeling Based On District Cutting-Merging For The Robot

Environment modeling is the foundation and key point for the robot completing the tasks given by human. With the precondition of describing in detail, meanwhile considering data quantity contraction, the kinds of tasks, features of robots etc., constructing effective and precise environment modeling is the basic technology for all other modules working successfully. It not only determines the environment applied degree, complicated problem treatment ability, path planning and monitoring rapidly and timely, with human-interface influences the user acceptance to the robot system as well. At present, multilevel environment modeling study trend appeared at abroad, but it is still difficulty in simply using human knowledge to build multilevel environment model. Without human knowledge, it can not reduce the scale of environment modeling radically, accordingly can not improve the speed of path planning and real-time of navigation monitoring. Aiming directly at these problems, multilevel environment modeling based on the knowledge, 2.5D description, district cutting and merging is proposed and developed.This project uses Borland C++ Builder to develop environment modeling subsystem. The radical purpose is providing environment model closed to the reality according to some evaluation criteria in the robot field to help the robot at maximum implement tasks given by human safely and fast. In this paper author briefly analyzes traditional environment modeling methods for the robot as well as advantages and disadvantages possessed by their improvement, explains the relationship between environmentmodeling and the other parts of robot system, discusses knowledge and knowledge base theory deeply, the concept of 2.5D, multilevel planning architecture. Through analyzing the whole design idea, frame structure and functional authority division for all modules deeply and amply, the paper proposes practical and feasible technology guideline and practice strategy.This paper systematically introduces the definition of various environment samples and the main technology during the process of samples' automatic matching, which includes proportions transmission of samples, drawing proportion settlement, position and orientation determination for environment samples. It expounds the general rules of district cutting, improves convex and concave judging arithmetic for environment borderline and district cutting arithmetic and expands new rules for district merging based on previous work. It designs and achieves some modules including environment samples defining, environment modeling, district cutting and necessary merging and so on. At last, in the paper the running and testing results of the experiment system are provided and the limitation is pointed out. Meanwhile, considering the work accumulation, it promotes work plan for the future.