Real-time path planning in heterogeneous environments

Real-time path planning in heterogeneous environments

Modern virtual environments can contain a variety of characters and traversable regions. Each character may have different preferences for the traversable region types. Pedestrians may prefer to walk on sidewalks, but they may occasionally need to traverse roads and dirt paths. By contrast, wild animals might try to stay in forest areas, but they are able to leave their protective environment w...

Experiments in Real-time Path Planning for Riverine Environments

Real-time path planning using harmonic potentials in dynamic environments

Motivated by fluid analogies, artificial harmonic potentials can eliminate local m in ima problems in robot path planning. I n this paper, simple analytical solut ions t o planar harmonic potentials are derived using tools f r o m fluid mechanics, and are applied t o two-dimensional planning among multiple moving obstacles. These closed-form solutions enable real-time computation to be readily ...

A Framework for Real-time Path Planning in Changing Environments

We present a new method for generating collision-free paths for robots operating in changing environments. Our approach is closely related to recent probabilistic roadmap approaches. These planners use preprocessing and query stages, and are aimed at planning many times in the same environment. In contrast, our preprocessing stage creates a representation of the configuration space that can be ...

Visible Decomposition: Real-Time Path Planning in Large Planar Environments

We describe a method called Visible Decomposition for computing collision-free paths in real time through a planar environment with a large number of obstacles. This method divides space into local visibility graphs, ensuring that all operations are local. The search time is kept low since the number of regions is proved to be small. We analyze the computational demands of the algorithm and the...