Research And Application Of Qualitative Spatial Reasoning And Robot Obstacle Avoidance In Complex Areas

With the development of computer science and technology,many practical applications involve a large number of spatial target objects.The spatial relationship reflects the relationship between geometrical positions and attributes of spatial objects.It is an important research content in the fields of artificial intelligence,spatial databases,geographic information systems(GIS),and robotics.It has an important influence on the description and expression of spatial relationships and spatial query,analysis and reasoning of spatial databases.Topological relationship is one of the most important spatial relationships.It is a hot topic in current spatial relationship research.When solving practical problems,sometimes it is impossible to accurately represent spatial objects and their relationships.In most cases,it is difficult to obtain spatial information with accurate numerical representation.We can Use qualitative language to describe spatial information.In recent years,the qualitative representation and reasoning of spatial knowledge has been rapidly developed,and has been widely used in spatial data query,qualitative navigation,geographic information systems and other related fields.In the real world,spatial regions are often complex,such as regions with holes,disjoint subsections,branches,etc.It is not enough to simply use the relationships between simple regions to describe the spatial relationships among the various components within a complex region.Therefore,in order to meet the needs of practical applications,the study of spatial objects and their relationships also gradually moves from simple spatial objects to complex spatial objects.This paper proposes a hierarchical qualitative spatial reasoning model and method for the qualitative reasoning of spatial relationships among objects in a complex region.It uses the hierarchical theory to give a connection graph representation of a complex region.It is also used to analyze the motion patterns and motion states of moving objects,and is used in the research of robot obstacle avoidance and trajectory prediction problems. Firstly,this paper defines a neighborhood hierarchy matrix based on the connection graphs of complex regions.It can represent the connection relationships among n component objects in a complex region mutually and completely,so as to provide a hierarchical qualitative spatial reasoning method and heuristic reasoning algorithm. This method is used to simulate the hierarchical relationship between robots and obstacles,and the effectiveness of the method is proved theoretically and practically,which provides a basis for the development of obstacle avoidance plans for robots.