Real-time Path Planning for Navigation in Unknown Environment

Authors:
T. R. Wan;H. Chen;R Earnshaw
Affiliations:
-;-;-
Venue:
TPCG '03 Proceedings of the Theory and Practice of Computer Graphics 2003
Year:
2003

Citing 7
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Abstract

Real-time path planning is a challenging task that hasmany applications in the fields of AI, moving robots,virtual reality, agent behaviour simulation, and actiongames. The various approaches for path planning havedifferent criteria that have to be met, resulting in anumber of algorithms for solutions to specific problems.In this paper, we introduce our approach and recentdevelopment regarding path planning in gameenvironments. We propose a novel real-time motion-optimisationalgorithm called Adaptive Dynamic Points ofVisibility (ADPV) for navigation of vehicles or movingagents in dynamical un-configured environments, whichcomputes a collision-free, time-optimal motion track forthe moving objects. Our approach is able to deal with theobstacle-space that is unknown or partially unknown tothe moving agent. It therefore solves the drawbacks oftraditional obstacle-space configuration methods.