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mklingen

Introductory Overview of Motion Planning

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I thought you might be interested in an article I wrote on Gamasutra about motion planning and pathfinding. Topics covered:

 

  • Theoretical foundations of Motion Planning and pathfinding -- optimality, completeness, configuration space, etc.
  • The Bug Algorithm
  • Visibility Graphs and Navigation Meshes
  • Lattice Grid Search: A* and variants
  • Flow Fields and other Control Policies
  • Randomized Planning: PRMs and RRTs
  • Trajectory Optimization

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A motion planning scenario that comes up a lot in video games is intercepting a moving target. One method of approach is Lead Persuit. Rather than attempting to predict a location, we merely calculate a heading, based on the target's current facing and speed difference.

 

A similar problem space in motion planning scenarios is collision avoidance of moving objects. Crowd control.

Edited by AngleWyrm

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