METHOD OF DETERMINING OCCLUDED INGRESS AND EGRESS ROUTES USING NAV-CELL TO NAV-CELL VISIBILITY PRE-COMPUTATION

摘要

In an exemplary embodiment, a computer-implemented method determines, using a processor, a relatively occluded set of viewcells connecting a current viewcell and a destination viewcell, the current viewcell containing the position of a friendly asset and the destination viewcell containing the position of an enemy asset, the relatively occluded set of viewcells including a set of viewcells connecting the current viewcell and the destination viewcell and also having a maximal number of viewcells occluded from the destination viewcell; and instructs, using the processor, the friendly asset to navigate a path comprising the relatively occluded set of viewcells.