中文摘要：

A variable dimensional state space(VDSS) has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and grid state space.In VDSS,the lattice state space is only used to construct search space in the local area which is a small circle area near the robot,and grid state space elsewhere.We have tested VDSS with up to 80 indoor and outdoor maps in simulation and on segbot robot platform.Through the simulation and segbot robot experiments,it shows that exploring on VDSS is significantly faster than exploring on lattice state space by Anytime Dynamic A*(AD*) planner and VDSS is feasible to be used on robotic systems.

英文摘要：

A variable dimensional state space（VDSS） has been proposed to improve the re-planning time when the robotic systems operate in large unknown environments.VDSS is constructed by uniforming lattice state space and grid state space.In VDSS,the lattice state space is only used to construct search space in the local area which is a small circle area near the robot,and grid state space elsewhere.We have tested VDSS with up to 80 indoor and outdoor maps in simulation and on segbot robot platform.Through the simulation and segbot robot experiments,it shows that exploring on VDSS is significantly faster than exploring on lattice state space by Anytime Dynamic A＊（AD＊） planner and VDSS is feasible to be used on robotic systems.