NexComm 2014
February 23 - 27, 2014
Nice, France

DigitalWorld 2014
March 23 - 27, 2014
Barcelona, Spain

InfoSys 2014
April 20 - 24, 2014
Chamonix, France

BioSciencesWorld 2014
April 20 - 24, 2014
Chamonix, France

ComputationWorld 2014
May 25 - 29, 2014
Venice, Italy

InfoWare 2014
June 22 - 26, 2014
Seville, Spain

DataSys 2014
July 20 - 24, 2014
Paris, France

NexTech 2014
August 24 - 28, 2014
Rome, Italy

SoftNet 2014
October 12 - 16, 2014
Nice, France

NetWare 2014
November 16 - 20, 2014
Lisbon, Portugal

 

ThinkMind // International Journal On Advances in Intelligent Systems, volume 3, numbers 3 and 4, 2010 // View article intsys_v3_n34_2010_6


Motion Planning of Autonomous Agents Situated in Informed Virtual Geographic Environments

Authors:
Mehdi Mekni

Keywords: Virtual Geographic Environment (IVGE); Hierarchical Path Planning (HPP); Navigation and Collision Avoidance

Abstract:
Multi-Agent Geo-Simulation (MAGS) aims to simulate phenomena involving a large number of autonomous situated actors (implemented as software agents) evolving and interacting within a Virtual representation of the Geographic Environment (VGE). Motion planning is a critical issue since it corresponds to one of the most important activities of agents moving in a complex and large-scale VGE. There is also a need for an accurate representation of the environment in order to support efficient path planning computation as well as reactive navigation for the detection and avoidance of obstacles and other agents. In this paper, we propose a semantically informed and geometrically precise virtual geographic environment method which allows to use Geographic Information System (GIS) data to automatically build an informed graph structure called Informed Virtual Geographic Environmnt (IVGE). Furthermore, we propose a topologic abstraction algorithm which builds a Hierarchical Topologic Graph (HTG) describing the IVGE and a Hierarchical Path Planning (HPP) algorithm which uses this graph. In addition, we propose a graph-based neighborhood structure in order to support motion planning of autonomous agents taking into account the characteristics of the IVGE.

Pages: 226 to 237

Copyright: Copyright (c) to authors, 2010. Used with permission.

Publication date: April 6, 2011

Published in: journal

ISSN: 1942-2679

SERVICES CONTACT
2010 - 2014 © ThinkMind. All rights reserved.
Read Terms of Service and Privacy Policy.