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ABSTRACT
We present a novel approach for efficient path planning and navigation of multiple virtual agents in complex dynamic scenes. We introduce a new data structure, Multi-agent Navigation Graph (MaNG), which is constructed using first- and second-order Voronoi diagrams. The MaNG is used to perform route planning and proximity computations for each agent in real time. Moreover, we use the path information and proximity relationships for local dynamics computation of each agent by extending a social force model [Helbing05]. We compute the MaNG using graphics hardware and present culling techniques to accelerate the computation. We also address undersampling issues and present techniques to improve the accuracy of our algorithm. Our algorithm is used for real-time multi-agent planning in pursuit-evasion, terrain exploration and crowd simulation scenarios consisting of hundreds of moving agents, each with a distinct goal.
INDEX TERMS
Computational Geometry and Object Modeling, Geometric algorithms, languages, and systems, Three-Dimensional Graphics and Realism, Animation, Virtual reality
CITATION
Ming C. Lin, Erik Andersen, Avneesh Sud, Sean Curtis, Dinesh Manocha, "Real-Time Path Planning in Dynamic Virtual Environments Using Multiagent Navigation Graphs", IEEE Transactions on Visualization & Computer Graphics, vol. 14, no. , pp. 526-538, May/June 2008, doi:10.1109/TVCG.2008.27
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