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中文摘要：
环境建模技术是自主式移动机器人导航研究中的一个重要环节。本文在分析当前普遍采用的一些环境建模方法及其缺点的基础上，针对复杂环境下移动机器人的导航任务提出了一种结合栅格法和改进AVBN法的环境建模方法。该方法首先读取激光雷达数据来建立栅格地图，再通过栅格扩张形成一个由可行路径所组成的网络拓扑图，从而可利用图搜索优化算法得到从起始点到终止点之间的一条最短路径。此方法的鲁棒性和有效性通过笔者自行研制的移动机器人IMR01及其HOMING策略得到了验证。
英文摘要：
Environmental modeling technology is an important research process in the navigation study of the autonomous mobile robot. The environmental modeling methods which are prevalent adopted and the disadvantages of these methods were analyzed. Combined the Grids method and improved AVBN method, a new Environmental modeling method was put forward which is aimed for the navigation of mobile robot in complex environment. At first, this method builds a grids map with the datum of the laser radar, then it forms a topological network fig through grid expand method, consequently a shortest path between start point and end point was gotten through the optimized graph-search algorithm. The robustness and validity of this method were verified through the IMR01 mobile robot designed by ourselves and the HOMING strategy.
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