摘要
针对三维虚拟场景自动漫游的路径规划问题,提出了一种快速路径规划算法:橡皮筋算法。首先,介绍了基于栅格的环境信息表示,场景中的障碍物在场景投影图矩阵中以不同的颜色值表示并求得其绕障包围路线,在此基础上来求得局部避障路径,生成基本路径后用橡皮筋算法进行优化处理,求得从起始点到结束点的一条最优路径。该算法可用于复杂形体和运动物体的实时避障,且具有稳定性好、求解实际问题效率高的特点。
Elastic Algorithm is a new and fast path planning algorithm proposing to solve the problem of auto-navigation in 3D virtual scene. The representation of virtual environments based on grid model was introduced, different roadblocks were signed with different color in the projection map of scene and its closed-in box was stored to provide local path. Elastic Algorithm was designed to optimize the basic path. It can be applied in complex condition and moving object, and has the character of high stability and efficiency in solving the problem of path planning.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2007年第11期2507-2510,2554,共5页
Journal of System Simulation
基金
海洋遥感教育部重点实验室开放基金(2005-01)
关键词
路径规划
栅格法
避障
漫游
path planning
grid model
collision-free
navigation
