Modeling Research Based On 2.5D And Characterization For Semi-Structured Objects

Environment modeling is basic subject for robot research aspect, at the same time, it is the premise that center decision-making mode applies to the actual situation successfully, the task of environment modeling is modeling description in environmental space, object position and posture. In modern society, robots perform in the role of production, life, and come to society from laboratory. Becasuse of changing in environment, modeling method transforms structured into semi-structured and unstructured. This paper discusses the method on tree modeling with two-half dimensional thought and feature classification on representative of semi-structured objects.This paper analyzes the current modeling techniques briefly, it elucidates superiority that bulids tree modeling by two-half dimensional thought. It discusses that many elements when trees model in the nature, after that, this paper provides systematic conceptions of tree modeling with two-half dimensional thought.After analyzing system of tree modeling, tree modeling divides into two parts, those are static modeling and dynamic modeling. In static modeling, because of self-similar characteristic and fractal structure, effective strategy is that divides tree modeling into branch modeling, leaf modeling and fork informantion. During branch moedling and leaf modeling, it uses simple standard body, complex standard body, simple deformable body and complex deformable body. Those four object modelings are builded by two-half dimensional thought and fractal character. It provides the data structure of four object modelings and points half-dimensional meanings on different four object modelings. During dynamic modeling process, it considers more elements which impact on tree modeling in nature, such as climate modeling, material modeling, kinetic modeling and kinematics modeling.Finally, in this paper, combines two-half dimensional thought to build the object experimental system. Using data storage structure of four typical objects, the experimental system constructs four typical objects successfully. It discusses effective and feasible running results of experimental system with two-half dimensional thought.