StealthBased Path Planning using Corridor Maps基于隐身的走廊地图路径规划.pptVIP

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StealthBased Path Planning using Corridor Maps基于隐身的走廊地图路径规划.ppt

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StealthBased Path Planning using Corridor Maps基于隐身的走廊地图路径规划

Roland Geraerts and Erik Schager CASA 2010 Stealth-Based Path Planning using Corridor Maps Requirements Fast and flexible 2D path planner Real-time planning for thousands of characters Dealing with local hazards Global path Natural paths Smooth Short Keeps some distance toobstacles Avoids other characters Minimize exposure to hostile observers Titan Quest: Immortal throne Representing the Free Space Traditional approach Run a shortest-path algorithm on a grid Advantages Simple Disadvantages May not run through narrow passages Slow in large or maze-like environments Ugly paths: little clearance, sharp turns Other approaches Sampling-based motion planning methods, visibility graphs, … Fixed path is inflexible Representing the Free Space Explicit Corridor Map Medial axis Annotated with closest points on obstacles CM-Plus graph Extra edges provide short and additional paths [Geraerts 2010] Creating a Visibility Map Visibility map Assigns a visibility value to each free cell Visibility value Denotes the number of observers that see the cell Describes how well they see the cell The lighter the cell, the more visible it is Creating a Visibility Map Computing the visibility for one observer Construct visibility polygon by updating visibility cone A More Realistic Vision Model Incorporate limitations Limit field of view Limit the vision range Limit the vision intensity Implementation uses GPU for efficiency purposes A B C Finding a Stealthy Path Costs of stealthy path Combination of path length and its visibility + = Edge costs: distance Edge costs: visibility Stealthy path Finding a Stealthy Path Algorithm Connect start and goal to the Explicit Corridor Map Find the shortest path in the graph (using A*) Retract this path to the medial axis Retrieve corresponding corridor Provides global route and flexibility to deal with local hazards Compute stealthy path using the Indicative Route Method Uses shortest path and corridor Finding a Stealthy Path Indicative Route Method