Abstract
We propose a high-performance path planning algorithm for automatic target tracking in the applications of real-time simulation and visualization of large-scale terrain datasets, with a large number of moving objects (such as vehicles) tracking multiple moving targets. By using a modified Dijkstra’s algorithm, an optimal path between each vehicle-target pair over a weighted grid-presented terrain is computed and updated to eliminate the problem of local minima and losing of tracking. Then, a dynamic path re-planning strategy using multi-resolution representation of a dynamic updating region is proposed to achieve high-performance by trading-off precision for efficiency, while guaranteeing accuracy. Primary experimental results showed that our algorithm successfully achieved 10 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.
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Project partially supported by NSF (No. CCR0306438) and the Boeing Company, USA
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Wan, M., Zhang, W., Murray, M.O. et al. Automatic target tracking on multi-resolution terrain. J. Zhejiang Univ. - Sci. A 7, 1275–1281 (2006). https://doi.org/10.1631/jzus.2006.A1275
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DOI: https://doi.org/10.1631/jzus.2006.A1275
Key words
- Target tracking
- Path planning
- Dijkstra’s algorithm
- Voxel-based modeling
- Multi-resolution terrain
- Real-time visualization and simulation