Path finding algorithm for generating path based on indoor planar graph

The invention discloses a path generation algorithm based on a planar graph, and belongs to the field of indoor navigation. The method comprises the steps: firstly, digitalizing a plane graph to obtain a coordinate set of obstacle packages; secondly, obtaining a coordinate point which can be used as a path; judging whether a convenient path exists between the current point and the terminal point or not; then entering the next optimal point, and repeating calculation until the terminal point is reached; and then, optimizing the generated path, and removing redundant parts; and finally, displaying the optimized path on the planar graph. The path finding algorithm for generating the path through the planar graph can be widely applied to different indoor structures, and is high in universality. According to the technology, an optimized path can be automatically generated. 本发明公开了一种基于平面图的路径生成算法，属室内导航领域。本发明首先将平面图数字化，获得障碍物包裹的坐标集合；其次得到可以作为路径使用的坐标点；接着判断当前点和终点是否存在便捷路径；然后进至下一个最佳点，重复计算以到达终点为止；然后再对生成的路径进行优化，去除冗余的部分。最后将优化路径