考虑物理特征的避障路径生成算法  

Obstruction Avoiding Path Generation Algorithm Considering Physical Features

作　　者：罗月童[1] 王晓静[1] 瞿德清[1] 季浩[1] 刘晓平[1] 

机构地区：[1]合肥工业大学计算机与信息学院VCC研究室,安徽合肥230009

出　　处：《工程图学学报》2010年第3期113-116,共4页Journal of Engineering Graphics

基　　金：国家自然科学基金国际(地区)合作交流资助项目(60573174);合肥市科技资助项目(2007-1004);合肥工业大学博士学位专项资助基金

摘　　要：自然、逼真的避障路径生成算法在仿真、游戏等领域有广泛应用。避障路径与障碍物的形状尺寸、运动物体的尺寸、转弯半径等物理属性密切相关。在综合考虑上述物理属性后,提出了一种避障路径生成算法。基于三次Hermit样条曲线的优异特性,算法生成的避障路径不仅具备C2连续性,而且还能保证新路径和原路径的连接具备G1连续性。算法被应用于某三维战场仿真系统,效果良好。Obstruction avoiding path generation algorithm has wide application in many fields such as simulation and game.Because physical features,such as obstruction’s size,moving object’s size and turn radius,have closed relations with obstruction avoiding path,the paper presents an obstruction avoiding path generation algorithm by considering physical features.By taking use of advantages of cubic hermit spline,the presented algorithm not only can ensure C2 continuity of the newly generated path itself,but also can ensure G1 continuity between newly generated path and the original path.This presented algorithm has been applied in some 3D War Simulation System,and the simulation result is satisfactory.

关 键 词：计算机应用 自动避障 路经生成 三次Hermite样条 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]