用于虚拟环境中实时避障的凸多边形融合算法

Convex Polygon Amalgamation Algorithm Used in Real-time Obstacle Avoidance in Virtual Environment

为了达到军事仿真中对智能体避障的实时性要求,我们提出了一种基于坐标变换的凸多边形融合算法。该算法包括了计算点到线段最小距离、判断线段与多边形是否相交、计算凸多边形之间近似距离以及获得融合点等内容。实验表明,将该算法应用于虚拟环境中智能体实时避障是可行和有效的。

In order to achieve the real-time of intelligent agent avoiding obstacles in the military simulations, a convex polygon amalgamation algorithm was proposed based on coordinate transform. The algorithm includes several sub-algorithms used to computer the minimum distance from dot to line segment, determine if there exists an intersection between line segment and convex polygon, compute the approximate distance between two convex polygons, get amalgamative dots, and so on. Experimental results show that this algorithm is feasible and valid for intelligent agent real-time avoiding obstacles in Virtual Environment.