【作者】 于舜；

【导师】 杨淮清；

【作者基本信息】 沈阳工业大学 ， 计算机软件与理论， 2009， 硕士

【摘要】 环境建模是机器人研究的基础性课题,同时也是中心决策模式得以顺畅应用的前提,其主要任务便是对环境空间与物体位置、姿态进行模型化表述。当今社会,机器人在人们日常生产、生活中扮演着越来越重要的角色,它们更多地走出实验室步入人类实际生活环境中。由于工作环境的改变,建模方法也由结构化向半结构、非结构化的建模方法方向上发展。本文以半结构的真实体为代表,利用拓展的二维半技术和基于特征分类的思想,建立半结构模型。该文通过对当前树木建模技术的分析与比较,阐明了运用二维半技术实施树木真实体建模的优越性。在深入论述自然界树木真实体建模时必须妥善兼顾各种要素的基础上,给出了基于二维半思想建立树木整体模型的系统化概念。经过对树木建模系统的构思,将树木建模分为静态建模和动态建模两大部分。其中在静态建模中,依据树木自身具有的自相似性和分形结构,将树木静态模型划分为枝干建模、叶片建模和分叉特征表现三部分。在枝干和叶片的建模过程中,主要利用的是基于二维半思想和分形特征建立起的四种单体模型——简单标准体、复杂标准体、简单变形体、复杂变形体。不但定义了这四种单体模型的形体存储数据结构,而且给出了针对不同单体模型的半维信息表达方式。在树木动态模型中,主要考虑了对树木建模有较大影响的气候模型、材料模型、动力学模型和运动学模型。最后,结合二维半思想构建单体实验系统,利用四类单体的数据存储结构,成功地建造出四类单体模型,验证了基于二维半思想构建单体模型算法的有效性和可行性。更多还原

【Abstract】 Environment modeling is basic subject for robot research aspect, at the same time, it is the premise that center decision-making mode applies to the actual situation successfully, the task of environment modeling is modeling description in environmental space, object position and posture. In modern society, robots perform in the role of production, life, and come to society from laboratory. Becasuse of changing in environment, modeling method transforms structured into semi-structured and unstructured. This paper discusses the method on tree modeling with two-half dimensional thought and feature classification on representative of semi-structured objects.This paper analyzes the current modeling techniques briefly, it elucidates superiority that bulids tree modeling by two-half dimensional thought. It discusses that many elements when trees model in the nature, after that, this paper provides systematic conceptions of tree modeling with two-half dimensional thought.After analyzing system of tree modeling, tree modeling divides into two parts, those are static modeling and dynamic modeling. In static modeling, because of self-similar characteristic and fractal structure, effective strategy is that divides tree modeling into branch modeling, leaf modeling and fork informantion. During branch moedling and leaf modeling, it uses simple standard body, complex standard body, simple deformable body and complex deformable body. Those four object modelings are builded by two-half dimensional thought and fractal character. It provides the data structure of four object modelings and points half-dimensional meanings on different four object modelings. During dynamic modeling process, it considers more elements which impact on tree modeling in nature, such as climate modeling, material modeling, kinetic modeling and kinematics modeling.Finally, in this paper, combines two-half dimensional thought to build the object experimental system. Using data storage structure of four typical objects, the experimental system constructs four typical objects successfully. It discusses effective and feasible running results of experimental system with two-half dimensional thought.更多还原