| The maintenance of map information for mobile robot is an important prerequisitefor mobile to work properly in corresponding environment. As an important addition ofGrid-Based Certain-Map, Grid-Based Distance-Map is another description ofenvironmental information, provided with much more information than Grid-BasedCertain Map. The research on dynamic update of Grid-Based Distance Map is becomingmore and more important in recent years.This paper focuses on analyzing dynamics of Grid-Based Distance Map updating,and presents an efficient algorithm for dynamically updating of Grid-Based DistanceMap. To avoid redundant updating, the dynamic update algorithm is optimized byimposing a cost-estimation function on update unit, and applying an Active-Window torestrict the spreading of map update. To make use of the information contained indistance map, the value of the cell in distance map is added to the cost estimationfunction of corresponding node, and makes the margin between planned path andobstacle adjustable. To verify the algorithms this paper presents, all the algorithms hadbeen implemented in C++, and tested on Player/Stage under various settings andconditions. The contrastive results of these tests are listed in the chapter six of thispaper. |
