Pathfinding in hierarchical representation of large realistic virtual terrains for simulation systems

摘要

A prominent pathfinding challenge is the fast computation of path plans in large virtual terrain environments used in simulation systems. Based on a hierarchical approach for pathfinding and terrain representation, this work details the design, the implementation and the test of a quadtree-based structure in the irregular grid navigation map representation of large realistic virtual terrain environments. To achieve this goal, it is described how a hierarchical global A* pathfinding algorithm searches for a path in a coarse initial irregular grid structure then proceeding with the search in refined regions of interest where obstacles are found. Thus, the proposed solution presents as major contribution the enhanced quadtree-based map representation for pathfinding in large virtual terrains. The pathfinding response time of this solution is statistically compared with different hierarchicalon-hierarchical and regular/irregular terrain representation structures instantiated in the modeling of "small" realistic terrain scenarios. After these experiments, similar ones are developed in a massive (large) virtual terrain inserted into a real-life simulation system for the development of military tactical training exercises. The results show that the response time required to generate pathfinding results can be reduced when the proposed global pathfinding technique over the quadtree-based hierarchical and irregular navigation map representation of the large virtual terrain is explored in the development of simulation systems. (C) 2019 Elsevier Ltd. All rights reserved.