| 基于四叉树的自适应栅格地图创建算法 |
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| 引用本文： | 郭利进,师五喜,李颖,李福祥.基于四叉树的自适应栅格地图创建算法[J].控制与决策,2011,26(11):1690-1694. |
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| 作者姓名： | 郭利进 师五喜 李颖 李福祥 |
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| 作者单位： | 1. 天津工业大学电气工程与自动化学院,天津,300160
2. 天津工业大学信息化与现代教育技术中心,天津,300160 |
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| 基金项目： | 国家自然科学基金项目(60974054); 天津市自然科学基金项目(10JCYBJC07400) |
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| 摘 要： | 针对传统的尺度均一概率栅格地图表达法在大尺度未知环境下地图创建过程中海量数据存储和相关量计算问题,提出一类基于四叉树的栅格大小自适应地图创建算法.利用四叉树理论,根据地图不同区域环境障碍物密度的变化,自适应调整各区域栅格尺度大小.仿真结果表明,所提出的算法不仅降低了数据存储量,而且栅格量的减少使得相关量计算大大降低,提高了移动机器人地图创建的实时性和地图表达的精度.
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| 关 键 词： | 大尺度环境 四叉树 自适应栅格 栅格被占用概率 |
| 收稿时间： | 2010/7/9 0:00:00 |
| 修稿时间： | 2010/9/29 0:00:00 |
Mapping algorithm using adaptive size of occupancy grids based on quadtree |
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| GUO Li-jina,SHI Wu-xia,LI Yingb,LI Fu-xianga.Mapping algorithm using adaptive size of occupancy grids based on quadtree[J].Control and Decision,2011,26(11):1690-1694. |
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| Authors: | GUO Li-jina SHI Wu-xia LI Yingb LI Fu-xianga |
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| Affiliation: | GUO Li-jina,SHI Wu-xia,LI Yingb,LI Fu-xianga(a.School of Electric Engineering and Automation,b.Center of Information and Modern Education Technology,Tianjin Polytechnic University,Tianjin 300160,China.) |
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| Abstract: | The normal probabilistic occupancy grids approach requires huge memory and complex computation of data association to map in unknown large-scale environments.Therefore,this paper proposes an adaptive size of occupancy grids method based on quadtree for mapping.By utilizing the theory of quadtree,the size of occupancy grids is automatically adjusted by the obstacle density of different zones in maps.Simulation experiment results show that,the mapping algorithm reduces the memory of map data and the computati... |
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| Keywords: | large-scale environments quadtree adaptive size of occupancy grids probability of occupancy grids |
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