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UBC Theses and Dissertations
Planning dynamic vehicle motion using move trees Adam, Andrew
Abstract
Generating skilled and well-planned behaviours for autonomous agents is a challenging problem common to both computer animation and robotics. This thesis presents a system that uses motion graphs for online motion planning, resulting in skilled driving behaviours for a dynamic model of a car in a constrained environment. The result reproduces skilled driving behaviors. It is a particular challenge to get the cars to produce skidding-into-turn behaviors when approaching sharp corners, which can achieve the fastest speeds around a track. The techniques explored in this thesis are potentially generalizable to other dynamic vehicle behaviours, in computer games or simulations. We demonstrate that a well-formed move tree or motion graph, created from the output of a physics-based simulation can be used to produce realistic steering behaviours on a variety of tracks. We show that a finite-horizon A * search algorithm is well suited to this task. We have produced a number of smooth animations that demonstrate considerable anticipation and agility, be it through acceleration/deceleration around tricky obstacles, or a hard skidding turn into a corner after approaching at high speed. Finally, we offer a number of ways that we could speed up the algorithms for future work in this area.
Item Metadata
Title |
Planning dynamic vehicle motion using move trees
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
2007
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Description |
Generating skilled and well-planned behaviours for autonomous agents is a challenging
problem common to both computer animation and robotics. This thesis
presents a system that uses motion graphs for online motion planning, resulting
in skilled driving behaviours for a dynamic model of a car in a constrained
environment. The result reproduces skilled driving behaviors. It is a particular
challenge to get the cars to produce skidding-into-turn behaviors when
approaching sharp corners, which can achieve the fastest speeds around a track.
The techniques explored in this thesis are potentially generalizable to other
dynamic vehicle behaviours, in computer games or simulations.
We demonstrate that a well-formed move tree or motion graph, created
from the output of a physics-based simulation can be used to produce realistic
steering behaviours on a variety of tracks. We show that a finite-horizon A *
search algorithm is well suited to this task. We have produced a number of
smooth animations that demonstrate considerable anticipation and agility, be
it through acceleration/deceleration around tricky obstacles, or a hard skidding
turn into a corner after approaching at high speed. Finally, we offer a number
of ways that we could speed up the algorithms for future work in this area.
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Genre | |
Type | |
Language |
eng
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Date Available |
2011-02-18
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0052035
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.