Pathfinding is critical to virtual simulation applications. One of the most prominent pathfinding challenges is the fast computation of path plans in large and realistic virtual terrain environments. To tackle this problem, this work proposes the exploration of a quadtree structure in the navigation map representation of large real-world virtual terrains. Exploring a hierarchical approach for virtual terrain representation, we detail how a global hierarchical pathfinding algorithm searches for a path in a coarse initial navigation map representation. Then, during execution time, the pathfinding algorithm refines regions of interest in this terrain representation in order to compute paths with a higher quality in areas where a large amount of navigation obstacles is found. The computational time of such hierarchical pathfinding algorithm is systematically measured in different hierarchical and non-hierarchical terrain representation structures that are instantiated in the modeling of a small real-world terrain scenario. Then, similar experiments are developed in a large real-world virtual terrain that is inserted in a real-life simulation system for the development of military tactical training exercises. The results show that the computational time required to generate pathfinding answers can be optimized when the proposed hierarchical pathfinding algorithm along with the easy and reliable implementation of the quadtree-based navigation map representation of the large virtual terrain are explored in the development of simulation systems.

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Navigation Map of Cherokee Reservoir Holston River published in 1955 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 1 of a series of 4 maps covering Cherokee Reservoir. This sheet covers mile 52.3 to mile 62.8. The Index to all 4 maps can be found on the lower right quadrant. The legend denotes several information items pertaining to lake levels, direction of flow, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level. / https://dc.etsu.edu/rare-maps/1027/thumbnail.jpg

Navigation Map of Cherokee Reservoir Holston River published in 1957 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 4 of a series of 4 maps covering Cherokee Reservoir. This sheet covers mile 95.1 to mile 116.6. The inset located in the upper portion includes a detailed view of Miller Island and Honeycutt Creek. The legend denotes several information items pertaining to lake levels, direction of flow, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level. / https://dc.etsu.edu/rare-maps/1028/thumbnail.jpg

Navigation Map of Cherokee Reservoir Holston River published in 1956 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 3 of a series of 4 maps covering Cherokee Reservoir. This sheet covers mile 79.3 to mile 95.1. The index to the entire 4 maps series can be found in the lower right quadrant. The legend denotes several information items pertaining to lake levels, direction of flow, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level. / https://dc.etsu.edu/rare-maps/1029/thumbnail.jpg

Navigation Map of Douglas Reservoir-French Broad River published in 1952 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 1 of a series of 3 maps covering Douglas Reservoir. This sheet covers mile 28.5 to mile 40.4. The index for the 3 map series can be found in the lower right quadrant. The legend denotes several information items pertaining to lake levels, direction of flow, roads, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level / https://dc.etsu.edu/rare-maps/1030/thumbnail.jpg

Navigation Map of Douglas Reservoir-French Broad River published in 1952 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 2 of a series of 3 maps covering Douglas Reservoir. This sheet covers mile 40.4 to mile 57.2. The index for the 3 map series can be found in the lower right quadrant. The legend denotes several information items pertaining to lake levels, direction of flow, roads, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level. / https://dc.etsu.edu/rare-maps/1031/thumbnail.jpg

Navigation Map of Fontana Reservoir published in 1958 by the Tennessee Valley Authority, Maps and Surveys Branch. Sheet 1 of a series of 3 maps covering Fontana Reservoir. This sheet covers mile 68.5 to mile 86.4. The index for the 3 map series can be found in the lower left quadrant. The legend denotes several information items pertaining to lake levels, direction of flow, roads, bridges, and other points of interest. Physical copy resides in the Government Information, Law and Maps Department of East Tennessee State University’s Sherrod Library. Scale: 1" = .5 mile. Datum is mean sea level. / https://dc.etsu.edu/rare-maps/1032/thumbnail.jpg