摘要：AbstractA regionalized environmental knowledge model (REKModel) is presented to describe the environment in the paper. The REKModel is a hierarchical structure in which small regions are grouped together to form superordinate regions. The REKModel is intrinsically hierarchical iterative and nested. Thus an extended nested-graph(ENG) is proposed to construct REKModel. An biomimetic navigation system for mobile robots is presented that is inspired by the fine-to-coarse planning heuristic, a human wayfinding strategy. A online fine-to-coarse pathfinding algorithm designed here allows robots to derives the route with decreasing the level of detail along the route. By using spatial information at different levels of detail for close and coarseness for distance, the memory load and plan complexity are all reduced. The simulation on MobileSim platform verifies the effectiveness and feasibility of the navigation system.
