A method of qualitative spatial heuristic reasoning and application for complex region

Qualitative spatial reasoning is a key spotlight in the domains of artificial intelligence, geographic information system, and robotics and so on. In this paper, we proposed a hierarchical qualitative spatial reasoning method for the spatial relations among multiple components in complex region. Firstly, an adjacency hierarchy matrix is defined based on adjacency link graph, which can be mutually exclusive and fully represent the connection relation among n components. Secondly, the heuristic reasoning on the binary hierarchical relations and the algorithm are proposed. Finally we simulate the relations of the robot and obstacles, and provide a basis for making the robot obstacle avoidance scheme, then the validity of this method is proved from theory and practice.