By Topic

Controlling virtual autonomous entities in dynamic environments using an appropriate sense-plan-control paradigm

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Raulo, D. ; Inst. Nat. de Recherche en Inf. et Autom., Montbonnot St. Martin, France ; Ahuactzin, J.-M. ; Laugier, C.

Research in path planning, motion control, and sensing is well-developed in robotics. The purpose of this paper is to show how general ideas from this area can be used for navigation of virtual autonomous entities in partially known dynamic environments. The basic idea is to consider the virtual entity as a “Virtual Robot” controlled using a layered navigation system combining a general path planner, a motion controller and a simulated perception system. Particularly, we address our initial implementation for the case of a human character. In this scheme, the motion synthesis of the different components of the articulated character is performed in real-time using computer graphic techniques. The path planner is based on the Ariadne's Clew Algorithm (ACA). We propose a multi-purpose object oriented implementation of the ACA able to solve different path planning problems: path-planning in the map of a large-scale environment, avoidance of unexpected obstacles while following a path, manipulation of movable objects and inverse kinematics. A simple decisional process is proposed in order to drive our path planner, the motion controller and the perception system

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:1 )

Date of Conference: