路径规划算法在虚拟船舶机舱漫游中的应用

摘要

A path planning algorithm is applied to the marine engine room visual system to overcome the difficulties in dense interactive operation and the roaming in large-scale scene. With the improvement in three aspects, i. e. environmental modeling, path optimization and real-time obstacle avoidance, the algorithm can be used for automatic engine room roaming in a distributed virtual environment. The data structure of the skeleton map nods is improved and the max free circle radius is joined to the model for safety margin judgment. The global path search is carried out by A * algorithm and the search results are optimizes based on visibility rules. A virtual force is designed for realtime guidance, obstacle avoidance and smoothing during role's automatic roaming process. The algorithm that has been applied in visual systems of marine engine room simulator provides a convenience to realize efficient engine room roaming and interactive operation.%为解决大规模机舱场景中密集交互操作与漫游的困难,将路径规划算法用于船舶机舱视景系统.通过对算法的环境建模、路径优化、实时避障三个环节的改进,使之可用于分布式虚拟环境下的机舱自动漫游.改进道路图骨架节点的数据结构,加入最大自由圆半径用于安全性的判断.使用A*算法做全局路径搜索,基于可见性原理优化搜索结果.设计了虚拟力用于角色自动漫游过程中的实时引导、避障与平滑.该算法为实现高效的虚拟机舱漫游和交互操作提供了方便,并已应用于轮机模拟器的视景系统中.