三维复杂场景路径规划仿真系统设计与分析

Research and analysis of path planning simulation system for three-dimensional complex scene

针对传统路径规划仿真的场景大多基于简化后的栅格模型应用MATLAB仿真技术建立,不满足真实三维空间计算需求和仿真的实时、交互性的问题,本文采用多线程技术成功构建基于MFC的三维视景仿真引擎,并预留智能算法接口,实现多通道联合三维路径规划视景仿真系统。针对由于三维空间复杂度增加所导致的搜索算法效率过低,寻路时间过长的问题,采用二叉堆作为OPEN表改进三维A*算法,采用路径平滑算法优化路径。仿真结果表明改进后的算法效率提高,系统寻路时间明显缩短;与递归寻路算法对比,仿真结果表明改进后的A*算法搜索效率更高,能够准确地在多障碍的三维复杂环境中规划出路径。

For the problem that the scenario for traditional path planning simulation is set up by the simplified grid model using MATLAB simulation technology, which does not meet the computing needs of real three - dimen- sional space and the real - time and interactive of simulation, the multi - channel combined three - dimensional visu- al simulation system for path planning is achieved whose three - dimensional visual simulation engine with the inter- face for intelligent algorithms is constructed successfully based on MFC using multi - threading technology. For the problem of inefficiencies for the search algorithm and too long time for path - finding caused by the increasing com- plexity of three - dimensional space, three - dimensional A ＊ algorithm is improved by using binary heap as OPEN table instead and optimizing path by path - smoothing algorithm. Contrast with recursive routing algorithm, higher ef- ficiency of the improved A ＊ search algorithm is showed by the simulation results, which can accurately plan the route in a three -dimensional environment with more complex obstacles.