Special Issue Paper
Space-time planning in changing environments : using dynamic objects for accessibility
Article first published online: 21 MAR 2012
Copyright © 2012 John Wiley & Sons, Ltd.
Computer Animation and Virtual Worlds
Volume 23, Issue 2, pages 87–99, March/April 2012
How to Cite
Lopez, T., Lamarche, F. and Li, T.-Y. (2012), Space-time planning in changing environments : using dynamic objects for accessibility. Comp. Anim. Virtual Worlds, 23: 87–99. doi: 10.1002/cav.1428
- Issue published online: 16 APR 2012
- Article first published online: 21 MAR 2012
- path planning;
- motion planning;
- dynamic environments;
- autonomous agents;
Navigation is a critical task for agents populating virtual worlds. In the last years, numerous solutions have been proposed to solve the path planning problem in order to enhance the autonomy of virtual agents. Those solutions mainly focused on static environments, eventually populated with dynamic obstacles. However, dynamic objects are usually more than just obstacles as they can be used by an agent to reach new locations. In this paper, we propose an online path planning algorithm in dynamically changing environments with unknown evolution such as physically based-environments. Our method represents objects in terms of obstacles but also in terms of navigable surfaces. This representation allows our algorithm to find temporal paths through disconnected and moving platforms. We will also show that the proposed method also enables several kinds of adaptations such as avoiding moving obstacles or adapting the agent postures to environmental constraints. Copyright © 2012 John Wiley & Sons, Ltd.