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Pathfinding in 3d Space

This document discusses pathfinding algorithms for 3D spaces. It reviews existing graph-based shortest path algorithms like Dijkstra's algorithm, A*, and Theta* and their applications to 2D and 3D surfaces. It then presents the authors' approach of using an octree representation, lazy Theta* algorithm, and edge-corner graph to find efficient paths in 3D environments for applications like video games and drone navigation. Evaluation results demonstrate the performance of their algorithm.

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Giorgi Rcheulishvili
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139 views

Pathfinding in 3d Space

This document discusses pathfinding algorithms for 3D spaces. It reviews existing graph-based shortest path algorithms like Dijkstra's algorithm, A*, and Theta* and their applications to 2D and 3D surfaces. It then presents the authors' approach of using an octree representation, lazy Theta* algorithm, and edge-corner graph to find efficient paths in 3D environments for applications like video games and drone navigation. Evaluation results demonstrate the performance of their algorithm.

Uploaded by

Giorgi Rcheulishvili
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Pathfinding in

3D Space
CHIA-MAN HUNG & RUOQI HE
Outline

 Introduction
 I. State of the art
 II. Algorithms
 III. Implementation in 3D space
 IV. Results
 Conclusion
Introduction

 Objective: Find the shortest paths efficiently in 3D space


 Applications: video games, drone navigation
I. State of the art
 Homeworld (1999) :
First famous real-time strategy game with movement in 3D space
I. State of the art

 Shortest paths in a graph


 Dijkstra (single source)
 O((|V|+|E|)log(|V|))
 Bellman-Ford (single source, weighted directed graph)
 O(|V||E|)
 Floyd-Warshall (for all pairs of vertices, weighted graph , no negative cycle)
 O(|V|3)
 A* (single source, single destination)
 O(n), n = length of the solution path => O(|E|)
I. State of the art

 2D - exact
 Visibility graph
 Anya (2D grid)

 2D - approximate
 Waypoints
 Navigation mesh + tunnel
 Family of Theta*
Non-optimality

 Navigation mesh + tunnel

path found VS true shortest path


I. State of the art

 3D surface - exact
 Windows (Fast exact and approximate geodesics on meshes 2005
Surazhsky)

 3D surface - approximate
 Heat (Geodesics in heat 2013 Crane)
 Fast-marching (1996 Sethian)
II. Algorithms

 World representation
 Tetrahedralization
 Convex decomposition
 Grid
 Octree
II. Algorithms

 A* (1968 Hart)
h admissible if
no over-estimation and
h(y) <= h(x) + d(x, y)
II. Algorithms

 Theta* (2007 Nash)


II. Algorithms

 Lazy Theta* (2010 Nash)


III. Implementation

 Octree construction
 Triangle-cube intersection
 Progressive octree
 Graph construction

Dual graph (not standard) Edge-corner


III. Implementation

 Line of sight
 Fast
 Robust
III. Implementation

 Injection of source and destination


III. Implementation - Optimisation

 Avoid exhaustive search


 Precompute the connectivity of the graph nodes
III. Implementation - Optimisation

 Multisource
 Reuse information
III. Implementation - Extension

 Application in video games


 Waypoints
 Repulsive force
 Replanning
IV. Results

Red: A*
Green: Theta*
Blue: Lazy Theta*
IV. Results

Red: A*
Green: Theta*
Blue: Lazy Theta*
IV. Results

Red: A*
Green: Theta*
Blue: Lazy Theta*
Non-optimality of Theta*
Demo !

 Demo !
 Demo !
 Demo !
 Demo !
 Demo !
 Demo !

 Demo !

 Demo !
Conclusion

 Exploration in a new domain


 Our proposition : Lazy Theta * + Progressive Octree + Edge-corner graph
 Possible Improvements
 Distribution of computation at each frame
 Other possibilities of h
 Post-processing

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