Virtual human path planning method based on Voronoi diagram and dynamic weight A star algorithm

The invention discloses a virtual human path planning method based on a Voronoi diagram and a dynamic weight A star algorithm. The method comprises the following steps: acquiring environment information of a virtual human operation area, and establishing a two-dimensional environment model; according to the two-dimensional environment model, a vector method is adopted to calculate and generate a Voronoi diagram; according to the Voronoi diagram, performing global search by adopting an A star algorithm of a dynamic weight to obtain an initial path diagram; for the initial path, extracting a path point set and carrying out cubic spline difference optimization processing to generate a navigation path; in the virtual human navigation process, whether environment radiation and obstacles change or not is judged in real time, and navigation is continued according to the current planned path if the environment radiation and the obstacles do not change; and if the current space position of the virtual human is changed