Map way-finding method and device based on secondary search

Abstract

The embodiment of the invention provides a map way-finding method and device based on secondary search. The method comprises the following steps: determining a start node and a termination node of way-finding; performing sub-optimal search path finding by adopting a preset first precedence function to obtain a first path-finding path; determining at least one target node based on the distances from the nodes in the first way-finding path to a target straight line, the distance from the target node to the target straight line being a maximum value in the distances from the nodes to the target straight line in a preset range; performing path division according to the start node, the target node and the termination node to obtain a plurality of segmented sub-paths; and carrying out sub-optimal search path finding by adopting a preset second optimization function to obtain a second path-finding path of each segmented sub-path, and sequentially splicing the second path-finding paths to obtain a final path-finding path. On the premise that high path finding quality is guaranteed, the number of nodes needing to be searched in path finding are reduced, and path finding efficiency is improved.

Description

technical field [0001] The present invention relates to the technical field of data processing, in particular to a method and device for map pathfinding based on secondary search. Background technique [0002] In applications such as games, it is often necessary to realize the movement of virtual objects in the scene, and the pathfinding problem is involved in the movement process. [0003] Pathfinding refers to finding an obstacle-free path for an agent to get from a starting point to a goal point. The agent refers to the actual moving individual, which can be represented by a unit on the map. Real-time pathfinding refers to completing pathfinding tasks in a relatively short period of time. Usually, the quality of the path can be sacrificed to reduce the pathfinding time to achieve real-time effects. [0004] In the field of pathfinding, most suboptimal algorithms are derived from optimal algorithms, namely A * Pathfinding algorithm. The algorithm is actually a heuristi...

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Problems solved by technology

[0007] Although the suboptimal algorithm improves the search efficiency, there are still some problems, such as the number of expanded nodes in the search is still large, the time-consuming is high, and the quality of pathfinding is not high enough

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