Research on Obstacle-Avoiding Path Dynamic Planning Based on Visual Graph and Geometry Approximation Algorithm
Lijun Pan · Journal of Academy of Armored Force Engineering · 2007
To satisfy the requirement of real-time simulation, the path planning of CGF armored car and gunship can be predigested to the path planning in a 2-D plane. This paper focuses on the core problem of the 2-D path planning—obstacles avoiding path planning. Firstly this paper bases on the problem-solving environment of the visual graph, and transforms the path planning into a matter of multistage decision. Using the improved visual graph and geometry approximation algorithm this paper solves each stage-problem and gets the shortest path of each stage. Finally by using the dynamic planning this paper solves the problem of obstacle-avoiding path planning.