Environment Modeling Approach Based on Simplified Visibility Graph

摘要

To solve the problem of establishing environmental model in global path planning for mobile robot,an environment modeling approach was proposed on the basis of the simplified visibility graph.The representation of environmental model was simplified by eliminating obstacles in the environment which do not affect the result of path planning.In the process of environment modeling,the starting point and goal point of mobile robot and the reserved obstacles were used to establish the simplified visible graph in which the quantity of edges is small enough.The visible edges of simplified visible graph were the feasible paths for robot path planning.According to the environmental model established by the simplified visible graph,the efficiency of path planning algorithm was improved.The simulation results demonstrated that the proposed approach is simple and effective.