Route planning optimization method based on collision detection of hierarchical bounding volume for three-dimensional complex scene

Abstract

The invention discloses a route planning optimization method based on collision detection of a hierarchical bounding volume for a three-dimensional complex scene. The method comprises the steps that (1) two lists, namely a to-be-selected list L1 and a selected list L2 are defined; (2) the list L1 is traversed sequentially, and a current node c is extracted and put in the list L2 to indicate that non-collision domain expansion points are searched for the current node c; (3) rough probing is performed with the node c being a center, wherein rough probing mainly includes setting the dimensions and partition size of the bounding volume and performing pre-collision detection and fine collision detection along a certain direction; (4) whether rough probing succeeds or not is judged, if yes, a next node in the list L1 is skipped to, and otherwise fine search is performed on the current node c, pre-collision detection and fine collision detection are performed along a set direction, and non-collision domain expansion points N are recorded; (5) the non-collision domain expansion points N are subjected to A* cost evaluation and descending ordering and are interposed into the list L1; and (6) the list L1 is traversed cyclically to find out a minimum value of cost evaluation to serve as a current node, and the steps are repeated to the end. Through the route planning optimization method based on collision detection of the hierarchical bounding volume for the three-dimensional complex scene, the route planning effect and planning efficiency are effectively improved. The technical scheme is adopted to solve technical problems.

Description

technical field [0001] The invention relates to the fields of image processing, calculation methods, three-dimensional scenes, mathematics, etc., especially a path planning optimization method based on hierarchical bounding box collision detection for the three-dimensional complex scene. Background technique [0002] When roaming in a three-dimensional complex scene, users are often unable to realize their own position due to the complexity of the environment and the limited range of visible points, and cannot quickly identify the position of the destination. Therefore, path planning technology is needed to identify their own position through this technology And quickly identify the location and route of the destination. The commonly used algorithm for path planning is the heuristic A* search algorithm, which completes path planning by calculating the cost evaluation value and finding the minimum cost evaluation value. Most of the existing path planning algorithms have a ph...

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the shortcomings of poor planning effect and low planning efficiency of the existing 3D scene path planning, the present invention provides a path planning optimization method based on hierarchical bounding box collision detection for 3D complex scenes that can effectively improve the path planning effect and planning efficiency

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