Calculating arrival with soft turn (help!)

Andres "NEXUS" Chamarra · 2013-11-22T20:35:27

So, we have a mobile that behaves very much like a car, with some rules simplified. The mobile has a maximum turning speed and a turning acceleration, this goes to both directions of the car relative to its forward vector. It also has a top forward speed, which is limited to a linear interpolation between the maximum in straight line and the maximum while using top turning speed. In order to reach this top speed and to stop it has an acceleration as well, considered to be constant. Unlike a car, we are not meant to move backwards. For the purposes of this task we are in a wide open empty parking lot, so room to move and manouver is plenty, we start in a given position facing a given angle and we are given the goal of arriving at another specific spot at another specific orientation. This goal may very well be to end up standing in the same spot but facing the opposite direction. Acceleration and speeds for both translation and rotation will make the beggining of our movement process look very nice, but arrival is more complicated, we need to arrive from a specific direction in order to end up looking in the angle we were given. My first instinct is to try to extrapolate the arrival turn from the goal backwards, but I have no idea how to do this mathematically. Formulas? hints? alternative solutions? it needs to look soft and obey the rules stated above. Acceleration and deceleration may have different magnitudes.

Math and Physics Programming

Started by NEXUSKill November 12, 2013 06:35 PM

12 comments, last by ferrous 10 years, 4 months ago

ferrous

6,164

November 22, 2013 02:13 AM

Interesting stuff, I started digging into a similar issue, and it really is quite complicated. If you get a sample working, I'd love to see a video.

NEXUSKill

475

Author

November 22, 2013 04:00 PM

I'm thinking of putting together an article for flocking and steering behaviors, the working code I have now I cannot share due to contractual obligations but I can make something on the outside and get a working demo of the technique.

Game making is godlike

LinkedIn profile: http://ar.linkedin.com/pub/andres-ricardo-chamarra/2a/28a/272

Waterlimon

4,401

November 22, 2013 06:16 PM

Would it be possible to spawn more of the ghosts and have them follow different paths? This might let you find an optimal path in less time but will of course be slow.

o3o

ferrous

6,164

November 22, 2013 08:35 PM

Would it be possible to spawn more of the ghosts and have them follow different paths? This might let you find an optimal path in less time but will of course be slow.

I believe that's how several research papers do it for motion planning. (the gama article links to them)

Calculating arrival with soft turn (help!)

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Calculating arrival with soft turn (help!)

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