基于Frenet坐标的虚拟角色路径规划算法的研究

Research on the Path Planning Algorithm of Virtual Character Based on Frenet Frame

针对虚拟现实仿真场景中的虚拟角色路径规划问题,提出一种基于Frenet坐标的虚拟角色路径规划算法,算法根据已知的障碍物信息,较快地为虚拟角色规划路径,路径平滑有效,能够合理避开既有的障碍物。算法将虚拟角色和障碍物的位置信息转换到Frenet坐标当中,构建路径的五次多项式备选路径集合,通过障碍物位置信息等特定约束条件推算最优的运动轨迹,进而实现虚拟角色的障碍避让、速度持续性以及合理并线等智能行为,算法性能较好,模拟效果真实,具备一定的应用价值。

For the path planning problem of virtual character in virtual reality simulation scenes,a path planning of virtual character algorithm based on Frenet frame is proposed. The algorithm plans the path for the virtual character fast based on the known obstacle information,and the path is smooth and effective to avoid the existing obstacles reasonably. The algorithm converts the position information of the virtual character and obstacles into Frenet frame to derive the optimal motion trajectory,and then realizes the intelligent behaviors of the virtual character such as obstacle avoidance,speed continuity and reasonable merging. The algorithm has good performance and realistic simulation effect,and has certain value for the application in path planning problem.