基于可视图和几何逼近算法的避障路径动态规划研究  

Research on Obstacle-Avoiding Path Dynamic Planning Based on Visual Graph and Geometry Approximation Algorithm

作　　者：李小君[1] 潘丽君[1] 

机构地区：[1]装甲兵工程学院装备指挥与管理系,北京100072

出　　处：《装甲兵工程学院学报》2007年第2期29-32,共4页Journal of Academy of Armored Force Engineering

摘　　要：为了满足实时仿真的需求，CGF装甲车和武装直升机等的路径规划问题都可以简化成二维平面中的路径规划问题。研究了二维平面中路径规划的核心问题——避障路径规划问题。首先以可视图法所建的求解环境为基础，将避障路径规划转化为一个多阶段决策问题，对于每一个阶段的子问题，应用改进可视图法和几何逼近算法进行求解，得出各阶段的最短路径，最后对避障路径规划进行动态规划求解。To satisfy the requirement of real-time simulation, the path planning of CGF armored car and gunship can be predigested to the path planning in a 2-D plane. This paper focuses on the core problem of the 2-D path planning--obstacles avoiding path planning. Firstly this paper bases on the problem-solving environment of the visual graph, and transforms the path planning into a matter of multistage decision. Using the improved visual graph and geometry approximation algorithm this paper solves each stageproblem and gets the shortest path of each stage. Finally by using the dynamic planning this paper solves the problem of obstacle -avoiding path planning.

关 键 词：避障路径规划 几何逼近 可视图 动态规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]