# 一种运动轨迹生成算法的思路

- Link: https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/
- Published: 2019-02-22T11:46:58+08:00
- Author: 白宦成

文章目录

 [Toggle](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#)

 * [算法思想](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#%e7%ae%97%e6%b3%95%e6%80%9d%e6%83%b3)
 * [图示](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#%e5%9b%be%e7%a4%ba)
    - [1 定义起点和终点](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#1_%e5%ae%9a%e4%b9%89%e8%b5%b7%e7%82%b9%e5%92%8c%e7%bb%88%e7%82%b9)
    - [2 取中间点](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#2_%e5%8f%96%e4%b8%ad%e9%97%b4%e7%82%b9)
    - [3 在中间点上取垂线](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#3_%e5%9c%a8%e4%b8%ad%e9%97%b4%e7%82%b9%e4%b8%8a%e5%8f%96%e5%9e%82%e7%ba%bf)
    - [4 连接起点、中点、终点，形成轨迹图](https://www.ixiqin.com/2019/02/22/a-trajectory-generation-algorithm-is-proposed/#4_%e8%bf%9e%e6%8e%a5%e8%b5%b7%e7%82%b9%e3%80%81%e4%b8%ad%e7%82%b9%e3%80%81%e7%bb%88%e7%82%b9%ef%bc%8c%e5%bd%a2%e6%88%90%e8%bd%a8%e8%bf%b9%e5%9b%be)

![](https://postimg.aliavv.com/201810/kn76p.jpg)

网状

由于我司程序员太懒，生成轨迹算法直接取的随机数，导致生成的轨迹图变成了一个网状的
结构，根本无法使用。

搜索以后，发现一个很有意思的轨迹生成算法，分享给大家。

## 算法思想

 1. 定义起点和终点
 2. 在起点和终点直接取中点
 3. 在起点与终点连线的垂直方向上进行变化，取得第三点
 4. 连接起点、中点、终点。

## 图示

### 1 定义起点和终点

![](https://postimg.aliavv.com/201810/a2o6r.jpg)

### 2 取中间点

![](https://postimg.aliavv.com/201810/eazsz.jpg)

### 3 在中间点上取垂线

![](https://postimg.aliavv.com/201810/qni4g.jpg)

### 4 连接起点、中点、终点，形成轨迹图

![](https://postimg.aliavv.com/201810/yd53k.jpg)

这样，就完成了一条路径的生成，很简单，但是比较有效。