Kostas Bekris University of Nevada, Reno
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Transcript of Kostas Bekris University of Nevada, Reno
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Kostas BekrisUniversity of Nevada, Reno
CS 425/625
Interface for Motion PlanningIn Physically Realistic 3D Virtual Worlds
September 22, 2008
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Game Engines
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Components
Game EngineUser
VisualizationSoftware
Interface
ModelDatabase
Physics-based
Simulation
AI(Motion
Planning)
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Physics-based Simulation
Front wheelsturn
Rear wheeldrive
Car model and racing track from:“The Open Racing Car Simulator” (TORCS)
Software: Open Dynamics Engine (ODE)and OpenSceneGraph
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Motion Planning
James KuffnerCMU
Jean Claude LatombeStanford
Industrial Manipulation
Geometric Puzzles
Simulation
Kostas Bekris
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Physically Realistic Motion Planning
Geometric Paths are not Sufficient• Lack of Physical Realism
• Cannot be easily followed
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Physically Realistic Motion Planning
Trajectory Planning:• Higher-Dimensional Problem• More constrains