A Motion Constrained Dynamic Path Planning Algorithm for Multi-Agent Simulations

Abstract

In this paper, we present a novel motion-orientated path planning algorithm fo r real-time navigation of mobile agents. The algorithm works well in dynamical and un-configured environments, and is able to produce a collision-free, time -optimal motion trajectory in order to find a navigation path. In addition to the motion constraint path planning, our approach can deal with the unknown obstacle-space terrains to moving agents. It therefore solves the drawbacks of traditional obstacle-space configuration methods. Multi-agent behaviour has been explored based on the algorithm. In the simulation a simple physically-based aircraft model has been developed, which is addressing the manoeuvring capabilities of the moving agents, while the moving agents' accelerations and velocities are always continuous and bounded. The generated motion path is constituted smoothly and has continuous curvature on the whole state space of the motion, thus satisfying the major requirement for the implementation of such strategies in real-time animation or in simulation applications in VR environments.