在静态三角网络的基础上设计实现了动态三角网络地图算法,通过改变三角网格地图障碍物变化过程中的网格节点代价值,设计相关算法模块并对新生成的网格地图实时获取更新信息,实现动态变化效果.结合搜索算法Anytime Replanning A*(ARA*)和D*Lite,实现在动态环境中的路径规划方法Anytime Dynamic A*(AD*),通过对网格地图中已扩展信息的保存和在有限时间内不断缩小膨胀因子,找到网格地图中代价值最小的节点,动态规划得到最优路径.在动态环境中,通过模拟动态场景图,并应用动态规划方法建立相应的数据搜索结构和方法,对仿真效果进行分析和对比.%The dynamic triangular network map algorithm was designed and implemented on the basis of static triangular mesh to change the grid node cost value in the obstacle changing process of the triangular mesh map. The related algorithm was designed to acquire the updata information of the generated grid map in real time to realize the dynamic change effect. The search algorithm Anytime Replanning A*(ARA*)and D* Lite are combined to realize the path planning method A*(AD*)in dynamic environmet. The extended information in grid map is saved,and the expansion factor is reduced constantly in the finite time to find the node with minimum cost value in the grid map,and obtain the optimul path of dynamic planning. The dynamic scene graph is simulated in dynamic environment. The dynamic planning method is used to establish the corresponding data search structure and method to analyze and contrast the simulation results.
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