论文标题
最佳的任何角度探索球体
Optimal Any-Angle Pathfinding on a Sphere
论文作者
论文摘要
欧几里得空间中的探路是机器人和计算机游戏中面临的一个常见问题。但是,对于在地球表面或外太空中的长距离导航,将几何形状近似为欧几里得,不足以用于实际应用,例如航天器,飞机,无人机和船舶的导航。本文介绍了一种用于计算球体表面上点对之间最短路径的任何角度途径算法。引入了几种新颖的改编,这表明(Harabor&Grastien,2013年)为欧几里得空间所描述的Anya可以扩展到球形几何形状。在那里,坐标之间的最短路线是由大圆路径定义的,最佳解决方案通常是欧几里得空间中的曲线。另外,在球形几何形状中,最佳路径的转折点不一定是欧几里得空间中的角点,这将显示出对Anya的进一步适应。鉴于球形几何形状定义的世界地图的这些不同特性,球形Anya返回了球体上的最佳路径。它保留了Anya在欧几里得几何形状中的所有主要优势,即球形Anya算法总是在球体上返回最佳路径,并且完全在线上进行了在线,而没有任何预处理或大型内存。为包括星际争霸和《魔兽争霸III》(Warcraft III)以及使用NOAA测深数据集(NOAA Batchymetric Dataset)的海上航行(包括星际争霸III)(包括星际争霸)以及海上导航提供了性能基准。与Anya产生的欧几里得近似相比,始终返回较短的路径,在大多数海路中,球形Anya被证明比Anya快,并且在游戏地图和随机地图上较慢。
Pathfinding in Euclidean space is a common problem faced in robotics and computer games. For long-distance navigation on the surface of the earth or in outer space however, approximating the geometry as Euclidean can be insufficient for real-world applications such as the navigation of spacecraft, aeroplanes, drones and ships. This article describes an any-angle pathfinding algorithm for calculating the shortest path between point pairs over the surface of a sphere. Introducing several novel adaptations, it is shown that Anya as described by (Harabor & Grastien, 2013) for Euclidean space can be extended to Spherical geometry. There, where the shortest-distance line between coordinates is defined instead by a great-circle path, the optimal solution is typically a curved line in Euclidean space. In addition the turning points for optimal paths in Spherical geometry are not necessarily corner points as they are in Euclidean space, as will be shown, making further substantial adaptations to Anya necessary. Spherical Anya returns the optimal path on the sphere, given these different properties of world maps defined in Spherical geometry. It preserves all primary benefits of Anya in Euclidean geometry, namely the Spherical Anya algorithm always returns an optimal path on a sphere and does so entirely on-line, without any preprocessing or large memory overheads. Performance benchmarks are provided for several game maps including Starcraft and Warcraft III as well as for sea navigation on Earth using the NOAA bathymetric dataset. Always returning the shorter path compared with the Euclidean approximation yielded by Anya, Spherical Anya is shown to be faster than Anya for the majority of sea routes and slower for Game Maps and Random Maps.