虚拟场景中路径自动选择算法  

An Algorithm on Path Planning in Virtual Scene

作　　者：施斌[1] 刘惠义[2] 赵建平[1] 年福纯[1] 

机构地区：[1]中国卫星海上测控部技术部,江苏江阴214431 [2]河海大学计算机及信息工程学院,南京210098

出　　处：《兵工自动化》2011年第7期31-35,共5页Ordnance Industry Automation

摘　　要：针对传统路径规划方法存在的问题,对机器人全局路径规划中的栅格建模方法进行改进。从场景建模描述、邻域查找以及路径搜索策略3个方面进行深入研究,采用线性八叉树法对场景进行建模,给出基于线性八叉树的层次编码体系,引入路径搜索因子对启发式函数进行重构。通过基于八叉树的场景分解,基于线性八叉树编码特性的邻域查找,以及改进的A*算法路径搜索,实现了三维场景路径规划和自动漫游。实验结果表明:该算法的时间和空间效率较好。To solve the problems existing in those traditional path planning methods,the algorithm improves grid modeling method for global robotics path planning.Deep researches on scene modeling description,neighbor search and path search strategy are made.First,the linear octree method is applied to scene modeling.Second,hierarchical coding system based on linear octree is presented.Third,heuristic function is reconstructed by introducing path planning factor.In short,by hierarchical decomposition of scene based on octree,neighbor search based on linear octree codes,and improved A＊ algorithm,this algorithm can complete path planning and automated navigation in 3D virtual scene.The experiment results indicate that the algorithm is good in storage and time efficiency.

关 键 词：虚拟场景 线性八叉树 路径规划 A＊算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]