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 ...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 l0 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.展开更多
基金Project partially supported by NSF (No. CCR0306438) and theBoeing Company, USA
文摘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 l0 to 96 frames per second interactive path-replanning rates during a terrain simulation scenario with 10 to 100 vehicles and multiple moving targets.
