一种基于区域分割的多级环境建模方法

针对现有移动机器人路径规划中各种环境建模方法存在使用范围有限、复杂问题处理能力不足和运行效率低、缺乏灵活性等问题，结合二维半描述和知识利用原理，提出了一种可以比较圆满地解决诸如建筑物内不同楼层连接、室内室外环境交替出现等实用结构性空间问题的基于区域分割的多级环境建模方法。

regions split based  multilevel modelling of environment is put forward together with the knowledgeuse and 2. 5 D. The approach is intended for solving problems in the structured space, such as the linkbetween floors in a building, the alternate occurrence of both indoor and outdoor environments, and theoffshore oil platform maintenance, etc. We have invented the approach in order to overcome the followingproblems in existing approaches: few background applications, lack of capability to deal with complicatedproblems, low efficiency, poor adaptability to complex environments, and so on.