Path planning method and device

Abstract

The embodiment of the invention provides a path planning method and a related device. The method comprises: fitting is carried out by using N spline curves to obtain a movement path, wherein an end point of an ith spline curve in the N spline curves is overlapped with a starting point of an (i+1)th spline curve and an included angle of tangent lines of the ith spline curve and the (i+1)th spline curve at an overlapped point is zero; the shape of each spline curve is decided by a control point; and a path identifier of the movement path and coordinates of control points corresponding to the spline curves for fitting the movement path are stored into a path file. Because the shapes of the spline curves are decided by the control points, the coordinates of the control points of the spline curves are stored and thus the shapes of the spline curves are decided, so that the shape of the overall movement path is decided. And because the number of the control points is far smaller than the number of points in included by the spline curves, the storage amount of path data can be reduced substantially based on the path planning method.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a path planning method and device. Background technique [0002] Path planning is required in many scenarios, such as the trajectory planning of the manipulator arm or other controlled parts in the motion control of the robot, and for example, the movement path of non-player characters in the game (such as monsters in tower defense games) planning. [0003] Taking the movement path planning of non-player characters in the game as an example, non-player characters may need to Figure 1a The shown background moves along the road (of course, the robot may also need to move along a fixed road). [0004] One of the existing path planning methods is dot matrix representation, the principle of which is: grid the background with a given resolution, and then represent the moving path in the form of a pixel dot matrix (see Figure 1b ). [0005] The dot matrix notation generally adopt...

AI Technical Summary

Problems solved by technology

The above two methods at least save every point on the path, which results in a large amount of path data storage

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