摘要
以三维虚拟场景中角色的自动寻径为研究背景,提出了一种基于A^*算法的跃层寻径方法,采用改进的启发函数评估各个扩展节点的代价值以确定问题的最优解。通过引入碰撞检测机制,对改进的A~*算法得到的路径进行修正以避免碰撞行为的发生,并对修正后路径的关键点进行插值,借助Bézier曲线构建平滑的导航路径。通过实验验证,在目标点可达的情况下,寻径结果能够良好地适配跃层的情形。
Taking the automatic role pathfinding in three-dimensional virtual scene as the research background, the author proposes a method of multi-layer pathfinding based on A-star algorithm, and uses advanced heuristic functions to evaluate the cost values of various expansion nodes to confirm the optimal solution to the problems. By introducing collision detection mechanism, the navigation path generated by the improved A^* algorithm is modified to avoid collision;and by interpolating the fixed path, the smooth navigation path is constructed using Bézier Curve. The experimental results show that the path finding results can well adapt to the multi-layer case when the target point is reachable.
作者
石敏
魏育坤
金相臣
王素琴
毛天露
Shi Min;Wei Yukun;Jin Xiangchen;Wang Suqin;Mao Tianlu(School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China;Institute of Computing Technology,Chinese Academy of Sciences,Beijing 100190,China)
出处
《系统仿真学报》
CAS
CSCD
北大核心
2019年第7期1358-1366,共9页
Journal of System Simulation
基金
国家十三五重点研发计划(2017YFC0804900)
装备预研重点基金(9140A15030115DZ08042)