沈林成, 常文森. 移动机器人数字地形模型[J]. 机器人, 1996, 18(3): 148-157..
SHEN Lineheng, CHANG Wensen. THE DIGITAL TERRAIN MODEL FOR MOBILE ROBOTS. ROBOT, 1996, 18(3): 148-157..
摘要数字地形模型是Mobile Robots技术研究的一个重要课题．本文基于"面向对象方法"提出了一个支持移动机器人自主导航的面向对象的数字地形模型OODTM（Object Oriented Digital Terrain Model）．着重讨论了OODTM中的扩展符号投影及拓扑关系的空间推理．本文介绍的OODTM已应用于我们研制成功的智能机器人导航地形数据库系统中．
Abstract：The digital terrain model is an important aspect in mobile robot technology research. Based on the object-oriented method, this paper presents an object-oriented digital terrain model for the mobile robot navigation, and discusses the extended symbolic projections and the method of spatial reasoning for topological relations in this model. The digital terrain model introduced in this paper has been used in our terrain database and path planning system that has been developed. Mobile robots, digital terrain model ,object-oriented method, symbolic projections
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