An Occupancy Information Grid Model for Path Planning of Intelligent Robots
Commonly used robot map models include occupancy grid maps, topological maps, and semantic maps. Among these, an occupancy grid map is mainly represented as a quadrilateral grid. This paper proposes an occupancy information grid for intelligent robots by exploiting the advantages of the occupancy gr...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-03-01
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| Series: | ISPRS International Journal of Geo-Information |
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| Online Access: | https://www.mdpi.com/2220-9964/11/4/231 |
| _version_ | 1797434595692511232 |
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| author | Jinming Zhang Xun Wang Lianrui Xu Xin Zhang |
| author_facet | Jinming Zhang Xun Wang Lianrui Xu Xin Zhang |
| author_sort | Jinming Zhang |
| collection | DOAJ |
| description | Commonly used robot map models include occupancy grid maps, topological maps, and semantic maps. Among these, an occupancy grid map is mainly represented as a quadrilateral grid. This paper proposes an occupancy information grid for intelligent robots by exploiting the advantages of the occupancy grid map and spatial information grid. In terms of geometric structure, a regular hexagonal grid is used instead of a regular quadrilateral grid. In terms of attribute structure, the single obstacle attribute is replaced by the grid terrain characteristics, grid element attributes, and grid edge attributes. Thus, the occupancy information grid model is transformed into a new data structure describing the spatial environment, and it can be effectively applied to map construction and path planning of intelligent robots. For the map construction application of intelligent robots, this paper describes the basic process of laser sensor-based grid model construction. For the path planning application of intelligent robots, this paper extends the A* algorithm based on a regular hexagonal grid. Additionally, map construction and path planning applications for intelligent robots are experimentally verified. Several experimental results were obtained. First, the experimental results confirmed the theoretical conclusion that the minimum sampling density of the hexagonal structure was 13.4% lower than that of the quadrilateral structure. Second, the regular hexagonal grid is clearly more advantageous in describing environmental scenes, which can ameliorate the "undercompleteness" phenomenon. Third, there were large differences in the planning paths based on two types of grids, as shown by the fact that the distance of the planning paths obtained by the regular hexagonal grid was reduced by at least 10.8% and at most 15.6% compared with the regular quadrilateral grid. |
| first_indexed | 2024-03-09T10:35:39Z |
| format | Article |
| id | doaj.art-efb76b9b7e3e40d2ba95625da32733cb |
| institution | Directory Open Access Journal |
| issn | 2220-9964 |
| language | English |
| last_indexed | 2024-03-09T10:35:39Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | ISPRS International Journal of Geo-Information |
| spelling | doaj.art-efb76b9b7e3e40d2ba95625da32733cb2023-12-01T21:01:19ZengMDPI AGISPRS International Journal of Geo-Information2220-99642022-03-0111423110.3390/ijgi11040231An Occupancy Information Grid Model for Path Planning of Intelligent RobotsJinming Zhang0Xun Wang1Lianrui Xu2Xin Zhang3College of Computer and Information Engineering, Zhejiang Gongshang University, Hangzhou 310081, ChinaCollege of Computer and Information Engineering, Zhejiang Gongshang University, Hangzhou 310081, ChinaInstitute of Geospatial Information, Information Engineering University, Zhengzhou 450052, ChinaInstitute of Geospatial Information, Information Engineering University, Zhengzhou 450052, ChinaCommonly used robot map models include occupancy grid maps, topological maps, and semantic maps. Among these, an occupancy grid map is mainly represented as a quadrilateral grid. This paper proposes an occupancy information grid for intelligent robots by exploiting the advantages of the occupancy grid map and spatial information grid. In terms of geometric structure, a regular hexagonal grid is used instead of a regular quadrilateral grid. In terms of attribute structure, the single obstacle attribute is replaced by the grid terrain characteristics, grid element attributes, and grid edge attributes. Thus, the occupancy information grid model is transformed into a new data structure describing the spatial environment, and it can be effectively applied to map construction and path planning of intelligent robots. For the map construction application of intelligent robots, this paper describes the basic process of laser sensor-based grid model construction. For the path planning application of intelligent robots, this paper extends the A* algorithm based on a regular hexagonal grid. Additionally, map construction and path planning applications for intelligent robots are experimentally verified. Several experimental results were obtained. First, the experimental results confirmed the theoretical conclusion that the minimum sampling density of the hexagonal structure was 13.4% lower than that of the quadrilateral structure. Second, the regular hexagonal grid is clearly more advantageous in describing environmental scenes, which can ameliorate the "undercompleteness" phenomenon. Third, there were large differences in the planning paths based on two types of grids, as shown by the fact that the distance of the planning paths obtained by the regular hexagonal grid was reduced by at least 10.8% and at most 15.6% compared with the regular quadrilateral grid.https://www.mdpi.com/2220-9964/11/4/231intelligent robotoccupancy information grid modelhexagonal gridquadrilateral gridpath planning |
| spellingShingle | Jinming Zhang Xun Wang Lianrui Xu Xin Zhang An Occupancy Information Grid Model for Path Planning of Intelligent Robots ISPRS International Journal of Geo-Information intelligent robot occupancy information grid model hexagonal grid quadrilateral grid path planning |
| title | An Occupancy Information Grid Model for Path Planning of Intelligent Robots |
| title_full | An Occupancy Information Grid Model for Path Planning of Intelligent Robots |
| title_fullStr | An Occupancy Information Grid Model for Path Planning of Intelligent Robots |
| title_full_unstemmed | An Occupancy Information Grid Model for Path Planning of Intelligent Robots |
| title_short | An Occupancy Information Grid Model for Path Planning of Intelligent Robots |
| title_sort | occupancy information grid model for path planning of intelligent robots |
| topic | intelligent robot occupancy information grid model hexagonal grid quadrilateral grid path planning |
| url | https://www.mdpi.com/2220-9964/11/4/231 |
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