一种用于维修仿真的虚拟人行走规划方法  

A Walking Planning Method of Virtual Human for Maintenance Simulation

作　　者：卢晓军[1] 李焱[1] 贺汉根[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院自动化所,长沙410073

出　　处：《系统仿真学报》2004年第8期1738-1741,共4页Journal of System Simulation

摘　　要：提出了一种基于自由空间法和环境离散化表示的虚拟人行走规划方法。该方法首先将虚拟环境离散化成为环境图;然后,用启发式A搜索算法获取从初始位置到目标位置的最优路径,引导虚拟人对环境进行漫游;最后,设计实现了一个典型工作环境下的仿真演示实例,仿真和试验结果表明了所提算法的可行性与实用性。This paper presents a walking planning method based on Configuration Space Algorithm, as well as representation of virtual environment. Firstly, the environment is discretized into environment map. Then, a heuristic A* search algorithm is applied to find an optimal path from current position to goal position, directing virtual humans navigation in the simulation environment. At last, a case study of virtual maintenance simulation demonstration is conducted. The results of simulation experiments indicate the effectiveness and usability of the proposed method.

关 键 词：虚拟人 维修仿真 行走规划 人体动画 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]