Autonomous Agent Motion Planning for Virtual Environments Using Viewpoint Specific Depth Information

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  • Piperakis Romanos
    Graduate School of Information Science & Engineering Tokyo Institute of Technology
  • Takahashi Hiroki
    Graduate School of Information Science & Engineering Tokyo Institute of Technology
  • Nakajima Masayuki
    Graduate School of Information Science & Engineering Tokyo Institute of Technology

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  • 視点依存の奥行き情報を用いた仮想環境における自律エージェントのための経路探索

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Abstract

This paper presents an efficient and realistic motion planning strategy for navigating through a virtual reality world. The collision avoidance scheme employed is based on the vector field paradigm. By using depth information from the rendering pipeline of the agent's viewpoint as sensor data, we can accurately and efficiently approximate a force field around obstacles. This field exerts a repelling force on the agent which depends on the distance, shape and size of the obstacles in its path. This field in conjunction with an attracting force exerted from the goal position enables us to calculate a collision free path between any two arbitrary locations. Since our navigation strategy is based on local, viewpoint-specific sensor information, the algorithm is suitable for autonomous agents in either static or dynamic, unstructured environments. Furthermore, the algorithm is simple and fast and could be easily extended to real world robots equipped with depth lenses.

Journal

  • ITE Technical Report

    ITE Technical Report 25.85 (0), 25-30, 2001

    The Institute of Image Information and Television Engineers

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