The complexity of the path finding and navigation problem increases when multiple agents
are involved and these agents have to maintain a predefined formation while moving on a
3-D terrain. In this thesis, a novel approach for multiresolution formation representation is
proposed, that allows hierarchical formations of arbitrary depth to be defined using different
referencing schemes. This formation representation approach is then utilized to find and
realize a collision free optimal path from an initial location to a goal location on a 3-D terrain,
while preserving the formation. The proposed metod first employs a terrain analysis technique
that constructs a weighted search graph from height-map data. The graph is used by an off-line
search algorithm to find the shortest path. The path is realized by an on-line planner, which
guides the formation along the path while avoiding collisions and maintaining the formation.
The methods proposed here are easily adaptable to several application areas, especially to real
time strategy games and military simulations.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12613709/index.pdf |
| Date | 01 September 2011 |
| Creators | Hosgor, Can |
| Contributors | Polat, Faruk |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for METU campus |
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