Obstacle growing in a nonpolygonal world
Information Processing Letters
Game Programming Gems 2
Robot Motion Planning
The visibility--voronoi complex and its applications
SCG '05 Proceedings of the twenty-first annual symposium on Computational geometry
Computational Geometry: Algorithms and Applications
Computational Geometry: Algorithms and Applications
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We propose to use the generalized visibility graph (Vgraph) to represent search space for finding a natural-looking path in computer games. The generalized Vgraph is the extension of the visibility graph to the generalized polygonal world which is produced as a result of dilating polygonal obstacles. That is, the generalized visibility graph is constructed on the expanded boundaries of obstacles so that the path keeps an amount of clearance from obstacles. We also introduce an algorithm that can efficiently incorporate a start and a goal location to the map represented in a generalized Vgraph for quick pathfinding. The A* algorithm with Euclidean distance is used for quick path-finding. The proposed approach is compared to other major search space representations analytically and empirically. The results show that the map can be generated efficiently by using the generalized Vgraph and the paths found look natural.