讓數位演員能夠在虛擬場景中自主的規劃路徑並且移動，一直是一個富有挑戰性的問題。近年來已有相當多與此相關的研究，數位演員已能夠在高低起伏的分層地形中做路徑的規劃。我們的目標是除了能處理更一般化的場景外，對於場景中障礙物的定義，也會隨著數位演員的能力而有所不同。本研究為數位演員所擴充的新的能力包含了翻越過障礙物的能力以及搬移障礙物的能力。在以往藉由搬移障礙物而抵達目的地的研究中，都是以先決定欲搬移障礙物的順序，再為數位演員以本身擁有的運動能力規劃出一條合理且無碰撞的路徑。而本研究的特色則是將搬移障礙物這項能力與數位演員其他的運動能力一併考量，將各種運動能力以一致的觀點來規劃數位演員的行走路徑。我們將以數個模擬的例子說明此運動計畫器的有效性。 / Enabling a digital actor to move autonomously in a virtual environment is a challenging problem that has attracted much research attention in recent years. Many researches have been also to generate the motion of a digital actor in an uneven layered environment. In this thesis, we have extended our previous work to enable the digital actor to have the ability of jumping over a barrier and the ability of manipulating obstacles in order to make room for passing. Most previous work in generating manipulation plans for obstacles must first decide the order of manipulation and then manipulate obstacles in accordance with the sequence. In this thesis, we design a motion planner that can take all motion abilities of the digital actor into account in generating a collision-free path in a layered environment cluttered with various types of obstacles. This planer takes a unified view to consider all types of motions including manipulating objects that could change the system configuration. The experimental results will be demonstrated with several simulation examples to show the effectiveness of the system
| Identifer | oai:union.ndltd.org:CHENGCHI/G0093753037 |
| Creators | 李岳澤, Li,Yueh-Tse |
| Publisher | 國立政治大學 |
| Source Sets | National Chengchi University Libraries |
| Language | 中文 |
| Detected Language | English |
| Type | text |
| Rights | Copyright © nccu library on behalf of the copyright holders |
Page generated in 0.0023 seconds