Method for planning paths in ship based on ship VR model

A path planning and ship technology, applied in the field of navigation, can solve problems such as gaps and achieve the effect of reducing sawtooth

Active Publication Date: 2019-02-22
CHINA SHIP DEV & DESIGN CENT
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Problems solved by technology

At present, it is difficult to accurately express the space constraints in the vertical direction of the scene and the body size (height and width) of the virtual human body in the virtual scene passable area constructed by means of navigation grids, visual graphs, and probabilistic road maps, resulting in three-dimensional ship virtualization. There is a certain gap between the path calculation in the scene and the actual situation

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  • Method for planning paths in ship based on ship VR model
  • Method for planning paths in ship based on ship VR model
  • Method for planning paths in ship based on ship VR model

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specific Embodiment

[0116] Based on the above method, combined with the application programming interface provided by the PostEngeering (referred to as PE) virtual reality platform, the intelligent navigation function is realized in the large-scale ship interactive virtual training system, and the CPU is Intel Core i5 3.2G, the memory is 8G on the machine Test this function, and the specific implementation includes two parts: scene model editing and function demonstration.

[0117] Step 1: Scene model preparation. A product adopts the FORAN software of SENER Company for 3D modeling, and exports the 3D model of one of the general sections into wrl format. Further, use PE software to convert it into a VR scene file in .vob format, which contains 231,707 triangle faces.

[0118] Step 2: Navigation graph calculation. Calculate the above-mentioned .vob format scene model bounding box and navigation map. The scene navigation graph is divided into 627,750 grids, which contain 1,281,916 obstacle bodie...

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Abstract

The invention discloses a method for planning a path in a ship based on a ship VR model. The method comprises the following steps: (1) generating a navigation map of a passable area according to the ship VR model; (2) performing ship internal intelligent navigation based on an improved A* algorithm: generating a planned path according to the navigation map generated in the step (1) of the passablearea, a starting point and a target point. The path obtained by the method is smoother; a sawtooth shape is effectively reduced; the path is more in line with the human walking habit; the occurrenceof situations of walking close to obstacles and insertion into the obstacles can be avoided; the method is built on the basis of the navigation map and is capable of better solving the problem of planning difficulty of a virtual human path in the ship in a complex three-dimensional environment.

Description

technical field [0001] The invention relates to navigation technology, in particular to a ship internal path planning method based on a ship VR model. Background technique [0002] Large ships have complex systems and a large number of parts. The 3D model of the ship designed based on the special CAD software for shipbuilding has a huge amount of 3D models. By converting it and applying it to virtual training, it is of great significance for the crew to quickly become familiar with its internal layout, system equipment composition, and the operation and use of related equipment. . At present, it is difficult to accurately express the space constraints in the vertical direction of the scene and the body size (height and width) of the virtual human body in the virtual scene passable area constructed by means of navigation grids, visual graphs, and probabilistic road maps, resulting in three-dimensional ship virtualization. There is a certain gap between the path calculation ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/203
Inventor 方雄兵赖刚李涛涛常守明杨亢亢
Owner CHINA SHIP DEV & DESIGN CENT
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