Enhancing Corridor Maps for RealTime Path Planning in Virtual虚拟化中实时路径规划的走廊图.pptVIP

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Enhancing Corridor Maps for RealTime Path Planning in Virtual虚拟化中实时路径规划的走廊图.ppt

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Roland Geraerts and Mark Overmars CASA’08 Enhancing Corridor Maps for Real-Time Path Planning in Virtual Environments Criteria Fast and flexible path planner Real-time planning for thousands of characters Dealing with local hazards Natural paths Smooth Short Keeps some distance to obstacles Avoids other characters … The CMM – Construction phase The Corridor Map A system of collision-free corridors for the static obstacles Corridor: sequence of maximum clearance disks Data structure: generalized VD + clearance + additional info Corridor map Corridor The CMM – Construction phase Computing the GVD Draw distance mesh for each obstacle with GPU Parallel projection of meshes Trace boundaries Prune the graph Re-sampling Increases efficiency Adding data Identify connected components For each corridor, store maximum clearance a character can have Experiments – Construction phase McKenna MOUT environment Footprint and Corridor Map: 0.05s Experiments – Construction phase City environment Footprint and Corridor Map: 0.64s The CMM – Query phase Extract corridor for start and goal ? global route Character follows attraction point ? local route Runs along backbone path toward goal Used to define a force function, applied to character Obtain path Integration over time, update velocity/position/attraction point Yields a smooth (C1-continuous) path Other behavior: locally adjust path by adding forces Query points Corridor+backbone Path The CMM – Query phase For start/goal, find closest disk enclosing the character kd-tree Find the shortest backbone path Dijkstra versus A* Compute the corridor Compute the path Verlet integration Corridor+backbone Path Query points Experiments – Query phase McKenna MOUT environment Corridor and path: 0.2ms (average) Experiments – Query phase City environment Corridor and path: 1.2ms (average) Crowd Simulation Goal oriented behavior Each character has its own long term goal A start and goal fixes a corridor When a character has reached its goal, a new