三维场景中实时路径规划优化算法

Real-time Algorithm of Path Planning Optimization in Three-dimensional Scene

在实际工程应用中,运动目标的外形、大小直接影响到路径选择,本文针对三维复杂场景的碰撞检测和路径规划问题,提出了一种基于层次包围盒碰撞检测的实时路径规划优化算法.该优化算法在进行碰撞检测时,通过预碰撞筛选检测和精细碰撞检测的方法来规避根本不会碰撞的物体,只检测与视点小半径球有碰撞可能性的物体;在进行路径规划时,在传统A*算法进行路径规划的基础上,结合"粗试探和精搜索"的思想,最终完成路径规划.实验结果表明,本文优化算法在时间效率和效果上有一定的优势.

In practical engineering applications,the shape and size of the moving target directly affect the path selection. To solve the collision detection and path planning problems in three-dimensional complex scenes,a real-time path planning optimization algorithm based on the hierarchical bounding box is proposed. In the collision detection step,the algorithm uses pre-collision screening detection and fine collision detection to avoid objects that do not collide at all,and only detecting objects that have possibility to collide with small radius ball of the viewpoint. In the path planning step,based on the path planning of the traditional A * algorithm,combined with the idea of ' rough test and fine search',the path planning is finally completed. Experimental results showthat the optimization algorithm has certain advantages in time efficiency and effectiveness.