虚拟场景下改进的A^(*)算法及应用  

Improved A^(∗)Algorithm and Application in Virtual Scenes

作　　者：任伟建[1,2] 郭奕志 张海阔 康朝海 REN Wei-jian;GUO Yi-zhi;ZHANG Hai-kuo;KANG Chao-hai(Department of Electrical Information Engineering,Northeast Petroleum University,Daqing Heilongjiang 163318,China;Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control,Daqing Heilongjiang 163318,China;Sixtieth Research Institute of the General Staff Department of PLA,Nanjing Jiangsu 210018,China)

机构地区：[1]东北石油大学电气信息工程学院,黑龙江大庆163318 [2]黑龙江省网络化与智能控制重点实验室,黑龙江大庆163318 [3]中国人民解放军总参谋部第六十研究所,江苏南京210018

出　　处：《计算机仿真》2023年第12期277-282,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(61933007,61873058)。

摘　　要：为了解决发生地质灾害后,受灾环境出现路面损坏、临时障碍物增加等情况使得部分路径变为狭窄通道,甚至成为不可通行区域而影响人员逃生、救援及抢修效率的问题,利用虚拟现实技术,对发生灾害后的环境进行建模,以更加直观的方式描述复杂环境下不同的道路信息及路线情况,为人员逃生、救援、抢修等提供安全的可通行道路。基于虚拟场景,提出了一种改进算法:在A^(*)算法的基础上,结合人工势场法的斥力场形成原理,在原启发函数中增加了惩罚代价,并通过改进拐点法优化所得的路径,保证了路径的安全性。通过实验表明,改进后的算法能够计算出一条在确保安全的前提下的最优路径。In order to solve the problem of road damage and temporary obstacles increasing in the affected envi⁃ronment after geological disasters,which can make some paths narrow or even become impassable areas and affect the efficiency of personnel evacuation,rescue,and repair,this article uses virtual reality technology to model the envi⁃ronment after the disaster,and describes different road information and route conditions in a more intuitive way in complex environments,in order to facilitate personnel escape provide safe and accessible roads for rescue,repair,etc.On the basis of virtual scenario,an the improved method which combines both A^(∗) algorithm and artificial poten⁃tial field is proposed,the penalty cost is also added in the original heuristic function.The path obtained by improving inflection point method is optimized to ensure the safety of the path.The experiments indicate the improved method can provide the optimal path by guaranteeing certain security.

关 键 词：虚拟现实 路径规划 人工势场法 拐点法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]