Abstract
This paper extends the funnelling behavior to offer a low-cost flexible guidance of mobile entities towards a circular region goal with the guarantee of enforcing an orientation within a predefined tolerance interval. The key requirements are the same as the funnelling control, i.e. a low and constant cost update of the control even when the goal parameters change (distance and relative orientation of the goal, position tolerance radius, orientation tolerance interval, desired speed). The smoothness and the optimality of the resulting trajectory being of high importance the paper qualitatively compares the trajectories produced by both funnelling algorithms. The new relaxed approach appears to produce smoother and shorter path for path made of a succession of large region goals. These qualities and its low cost advocate for its exploitation for moving through large dynamically changing regions without precise a priori planning.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
[ALHB06] Arechavaleta, G., Laumond, J.-P., Hicheur, H., Berthoz, A.: Optimizing principles underlying the shape of trajectories in goal oriented locomotion for humans. In: 6th IEEE-RAS International Conference on Humanoid Robots, pp. 131–136, December 4-6 (2006)
[BOM03] Ben Amor, H., Obst O., Murray, J.: Fast, Neat and Under Control: Inverse Steering Bahaviors for Physical Autonomous Agents, Research Report, Institüt fèr Informatik, Universität Koblenz-Landau (December 2003)
[B05a] Boulic, R.: Proactive Steering Toward Oriented Targets. In: Proceedings of Eurographics 2005 Short Presentations, Dublin (2005)
[B05b] Boulic, R.: Reaching Oriented Targets with Funnelling Trajectories. In: Proc. of V-CROWDS 2005, Lausanne, November 24-25 (2005) ISBN 10 2-8399-0118-8
[BJ03] Brogan, D.C., Johnson, N.L.: Realistic Human Walking Paths. In: Proc. of Computer Animation and Social Agents, pp. 94–101 (2003)
[GKKO08] Geraerts, R., Kamphuis, A., Karamouzas, I., Overmars, M.: Using the Corridor Map Method for Path Planning for a Large Number of Characters. In: Egges, A., Kamphuis, A., Overmars, M. (eds.) MIG 2008. LNCS, vol. 5277, pp. 11–22. Springer, Heidelberg (2008)
[GTK04] Go, J., Thuc, V., Kuffner, J.J.: Autonomous Behaviors For Interactive Vehicle Animations. In: Proc. of Eurographics/ACM SIGGRAPH Symposium on Computer Animation, pp. 9–18 (2004)
[HM95] Helbings, D., Molnar, P.C.: Social force model for pedestrian dynamics. Physical Review E 51(5), 4282–4286 (1995)
[LD04] Lamarche, F., Donikian, S.: Crowds of Virtual Humans: a New Approach for Real Time Navigation in Complex and Structured Environments. Computer Graphics Forum, 23(3) (2004); In: Eurographics 2004
[MH04] Metoyer, R.A., Hodgins, J.K.: Reactive Pedestrian Navigation from Examples. The Visual Computer 20(10), 635–649 (2004)
[P08] Pettré, J.: Populate your Game Scene. In: Egges, A., Kamphuis, A., Overmars, M. (eds.) MIG 2008. LNCS, vol. 5277, pp. 33–42. Springer, Heidelberg (2008)
[PPD07] Paris, S., Pettré, J., Donikian, S.: Pedestrian Reactive Navigation for Crowd Simulation: a Predictive Approach,Computer Graphics Forum. In: Eurographics 2007, vol. 26(3), pp. 665–674 (2007)
[PVT08] Peternier, A., Vexo, F., Thalmann, D.: The Mental Vision framework: a platform for teaching, practicing and researching with Computer Graphics and Virtual Reality. Transactions on Edutainment 1 (June 2008)
[RT01] Raupp Musse, S., Thalmann, D.: Hierarchical Model for Real Time Simulation of Virtual Human Crowds. IEEE Transactions on Visualization and Computer Graphics 7(2), 152–164 (2001)
[R99] Reynolds, C.W.: Steering Behaviors For Autonomous Characters. In: Proc. 1999 Game Developer’s Conference, pp. 763–782 (1999)
[R00] Reynolds, C.W.: Interaction with Groups of Autonomous Characters. In: Proc. 1999 Game Developer’s Conference (2000)
[SNKFR08] Singh, S., Naik, M., Kapadia, M., Faloutsos, P., Reinman, G.: Watch Out! A Framework for Evaluating Steering Behaviors. In: Egges, A., Kamphuis, A., Overmars, M. (eds.) MIG 2008. LNCS, vol. 5277, pp. 200–209. Springer, Heidelberg (2008)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Boulic, R. (2008). Relaxed Steering towards Oriented Region Goals. In: Egges, A., Kamphuis, A., Overmars, M. (eds) Motion in Games. MIG 2008. Lecture Notes in Computer Science, vol 5277. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89220-5_18
Download citation
DOI: https://doi.org/10.1007/978-3-540-89220-5_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-89219-9
Online ISBN: 978-3-540-89220-5
eBook Packages: Computer ScienceComputer Science (R0)