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中文摘要：
为提供丰富的环境信息,提出一种基于分层混合信息构建复合地图的方法,针对准结构化环境,将几何特征划分为规则区域和非规则区域,在非规则区域采用改进的基于网格的共享近邻算法（GNN）进行非规则聚类,并引入贝叶斯概率算法进行动态信息处理.实验结果验证了方法的有效性及实用性.
英文摘要：
To provide more inviroment information, this paper presented a hierarchical mixed featurebased hybrid mapping method. According to semi-structured environment, geometric feature was divided into regular and non-regular areas, and an improved GNN algorithm was introduced to accomplish nonregular area clustering simultaneously. Furthermore, Bayes algorithm was used for dynamic information processing. Experimental result shows that this method is effective and practical.
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An Improved Algorithm for Distributed Robotic Control System based on Granularity Division and Entro
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