【摘要】 本文给出的结构基自由网格法综合了正规栅格法和自由空间法的基本思想,依环境的结构信息确定地解决自由空间分割过程中构造想象边界的任意性问题,由此消除了路径的不确定性;此外,结构基自由网格模型可以在一定程度上消除规划路径“绕大弯”的现象。更多还原

【Abstract】 Synthesizing the main ideas of regular grid modelling and free-space modelling, a structure basedfree-grid method is proposed to definitively the overcome opationality of imaginary boundaries genera-tion in the process of free-space segmentation according to environment structural data and hence theuncertainty of the path is eliminated. Furthermore, the structure based free-grid model can be used toavoid’making a big detour’, during the path planning to some extent.更多还原