Your cart is currently empty!
Overview In this assignment, you will implement a basic motion planning framework that you will use to animate groups of agents navigating in complex environments with a variety of obstacles. The simulated agents should avoid collisions with both obstacles and other agents, while still reaching their goals. Additionally, you will explore methods for simulating…
Overview
In this assignment, you will implement a basic motion planning framework that you will use to animate groups of agents navigating in complex environments with a variety of obstacles. The simulated agents should avoid collisions with both obstacles and other agents, while still reaching their goals. Additionally, you will explore methods for simulating group behaviors. You will develop several animations that show groups of agents displaying interesting emergent behavior such as flocking, herding or lane formation. You should incorporate a global navigation structure to allow your agents to navigate through complex environment without getting stuck at local minima.
Check-in (Required):
Consider the following scenario:
A 0.5m radius game character is in a large 20m x 20m room. The character starts at the bottom left (-9,-9) and wishes to go to the top right (9,9). There is a single obstacle in the room, represented by a circle of radius 2 meters at coordinates (0,0). Use a probabilistic roadmap (PRM) to plan a path for the agent from the start to the goal.
Implement the above scenario, in a graphical environment, with a smooth, continuously animated agent (e.g., represented as a cylinder). You should also visualize the roadmap the agent is following, including the start and goal positions, milestones, and edges.
Crowd/Flocking Simulation (Required) (80 Points)
Simulate multiple agents sharing the environment as follows:
-Implement a local interaction technique (Boids, Helbing, RVO/ORCA, TTC, etc.).
-Find 2 or 3 scenarios showing interesting interactions between the agents
-Implement a global navigation strategy for the agents (PRM/A*, RRT, etc.)
-Your roadmap needs to account for the extent of the agents, and should support
multiple obstacles in the environment
-Show 2 or 3 scenarios of groups of agents successfully navigating through environments with local minima.
-Find a scenario where your overall simulation breaks and produces odd behavior Additional Features
(5) Allow the user to add and move obstacles at run time
(5) Allow the user to dynamic choose agent starts and goals at run time
Better rendering and animation of scenario
(20) Animate the agent as a walking virtual character (using a walk cycle)
Faster motion planning
Better motion planning [can illustrate on a single agent]
(5) Implement path smoothing (e.g., walk to furthest visible node on path)
Game & Dance Contest [you’ll get points for only one or the other]
OR
Scoring | √ | |||||
– | Undergraduate | : Grade is | (totalPoints * 100) [e.g., 100 points will be full credit] | |||
– | Grad students | : Grade is | √ | (totalPoints * 84) [e.g., 120 points will be full credit] | ||
What to turn in
Make a submission website, submit just a link to this webpage. The page should contain:
You must call attention to anything you did which you are expecting credit for. Hints
-There are a lot of little things that could go wrong. The concepts behind motion planning are easy, but debugging in hard, please start early!
-Circles navigating around circles (and rectangles with rectangles) have very simple configuration space obstacles. You may want to be flexible with how you represent your agents depending on what they are avoiding.
–A basic group interaction should be relatively easy to code, and you can likely build off code from Assignment 1 (particle system). The difficult part comes in finding parameters that lead to nice animations; make sure to save time for tuning!