改进D*Lite算法在虚拟士兵路径规划中的应用Application of improved D*Lite algorithm in virtual soldier path planning
连云霞,樊永生,余红英,杨臻
摘要(Abstract)：
针对传统D*Lite算法存在的频繁转弯、过于靠近障碍物的问题提出改进D*Lite算法。该算法使用烟花算法中的映射规则将过于靠近障碍物的格子判定在安全范围之外,并使用烟花算法对D*Lite算法规划好的路径中的关键转折点间的路径进行二次规划以减少不必要的转弯。路径规划结果显示,所提出的改进D*Lite算法能够实现虚拟士兵最优路径搜索并且效率更高。仿真结果分析表明,所提出的算法比已有的改进D*Lite算法更优,可以有效减少路径中不必要的转弯,且使路径与障碍物保持合适的距离。
关键词(KeyWords)： D*Lite算法;烟花算法;虚拟士兵;路径规划;关键转折点;路径平滑
基金项目(Foundation):
作者(Author): 连云霞,樊永生,余红英,杨臻
DOI: 10.16652/j.issn.1004-373x.2018.06.006
参考文献(References)：
- [1]张育军.虚拟现实技术在军事领域的应用与发展[J].科技创新与应用,2014(15):290-291.ZHANG Yujun.The application and development of virtual reality technology in the military field[J].Technology innovation and applications,2014(15):290-291.
- [2]荣明,李小龙,王钦钊,等.三维虚拟士兵建模与仿真研究[J].系统仿真学报,2012,24(4):843-847.RONG Ming,LI Xiaolong,WANG Qinzhao,et al.Modeling and simulation of 3D virtual soldiers[J].Journal of system simulation,2012,24(4):843-847.
- [3]吴润方,王鲁.A*寻路算法在即时战略游戏中的应用[J].科技广场,2016(4):164-166.WU Runfang,WANG Lu.Application of A*routing algorithm in instant strategic game[J].Science mosaic,2016(4):164-166.
- [4]陈侠,刘冬.应用D*Lite算法的目标移动时无人机三维航迹规划[J].电光与控制,2013,20(7):1-5.CHEN Xia,LIU Dong.An improved D*Lite algorithm based3D path planning for UAVs when target is moving[J].Electronics optics&control,2013,20(7):1-5.
- [5]张浩,孙新柱.增强D*Lite在自主移动机器人安全路径规划中应用[J].河北工程大学学报(自然科学版),2014,31(2):89-92.ZHANG Hao,SUN Xinzhu.Application of improved D*Lite in security path planning of autonomous mobile robot[J].Journal of Hebei University of Engineering(Natural science edition),2014,31(2):89-92.
- [6]张晓冉,居鹤华.采用改进D*Lite算法的自主移动机器人路径规划[J].计算机测量与控制,2011,19(1):155-157.ZHANG Xiaoran,JU Hehua.Path planning of autonomous mobile robot using improved D*Lite algorithm[J].Computer measurement and control,2011,19(1):155-157.
- [7]李凯业.基于改进分层D*搜索算法的室内路径规划问题研究[D].合肥:合肥工业大学,2015.LI Kaiye.Research on indoor path planning based on improved hierarchical D*search algorithm[D].Hefei:Hefei University of Technology,2015.
- [8]随裕猛,陈贤富,刘斌.D-star Lite算法及其动态路径规划实验研究[J].微型机与应用,2015,34(7):16-19.SUI Yumeng,CHEN Xianfu,LIU Bin.D-star Lite algorithm and its experimental study on dynamic path planning[J].Microcomputer and its applications,2015,34(7):16-19.
- [9]朱启兵,王震宇,黄敏.带有引力搜索算子的烟花算法[J].控制与决策,2016,31(10):1853-1859.ZHU Qibing,WANG Zhenyu,Huang Min.Fireworks algorithm with gravitational search operator[J].Control and decision,2016,31(10):1853-1859.
- [10]张以文,吴金涛,赵姝,等.基于改进烟花算法的Web服务组合优化[J].计算机集成制造系统,2016,22(2):422-432.ZHANG Yiwen,WU Jintao,ZHAO Shu,et al.Optimization service composition based on improved firework algorithm[J].Computer integrated manufacturing systems,2016,22(2):422-432.
- [11]胡庆生.烟花算法及其应用[D].西安:陕西师范大学,2016.HU Qingsheng.Fireworks algorithm and its application[D].Xi’an:Shaanxi Normal University,2016.
- [12]陈璇,樊永生,余红英,等.自适应烟花算法在重型装备装载中的应用[J].科学技术与工程,2016,16(25):296-300.CHEN Xuan,FAN Yongsheng,YU Hongying,et al.Application of adaptive algorithm of fireworks in the heavy equipment loading[J].Science technology and engineering,2016,16(25):296-300.