具有避障能力的虚拟人姿态优化算法

Optimizing Virtual Human Postures for Avoiding Obstacles

为了解决复杂环境下的虚拟人运动控制问题,提出一种基于人工势场的具有避障能力的虚拟人姿态优化算法.首先在虚拟环境中根据目标和障碍物建立人工势场,并对虚拟人运动链末端进行无碰撞路径规划;其次将规划后末端每个中间位姿的逆运动学计算问题表示为带位姿和无碰撞约束的舒适度函数优化问题,并进行求解;最后得到虚拟人运动过程中一系列连续的无碰撞姿态,实现自行避障的虚拟人运动控制.通过实例测试验证了文中算法的有效性,该算法可应用于复杂环境下的虚拟人动画和人机工程仿真.

To implement the motion control of virtual humans in complicated environment, an approach to optimizing virtual human postures for avoiding obstacles is presented, which is based on the artificial potential field. Firstly, the artificial potential field is created according to the target and obstacle positions in the virtual environment, and then a collision-free path is planned for the end-effector of virtual human motion chain. Secondly, the computational problem of inverse kinematics for each posture of the end-effector along the path is described and resolved by the comfort level function optimization problem with posture and collision-free constraints. Finally, a series of collision-free continuous postures of human movement can be computed, and then the obstacle avoidance motion control is achieved. An example is given to validate the approach. The approach can be applied to virtual human animation and ergonomics simulation in the complicated environment.