Changes between Version 5 and Version 6 of doc/tec/mas/agent_pathfinding

Timestamp:

Feb 26, 2021 3:46:44 PM (4 years ago)

Author:

wagner

Comment:

--

doc/tec/mas/agent_pathfinding

@@ -6 +6 @@
 
 {{{#!td style="vertical-align:top; text-align:left"
-During the simulation each agent receives target coordinates (see [wiki:/doc/app/agtpar#at_x at_x] and [wiki:/doc/app/agtpar#at_y at_y]). Each agent must then find a path from its current position to its target using the visibility graph. This is accomplished using the '''A^*^-algorithm''' which is a well-known fast pathfinding algorithm (click [http://theory.stanford.edu/~amitp/GameProgramming/ here] for a thorough explanation). For this, \\
+During the simulation each agent receives target coordinates (see [wiki:/doc/app/agent_parameters#at_x at_x] and [wiki:/doc/app/agent_parameters#at_y at_y]). Each agent must then find a path from its current position to its target using the visibility graph. This is accomplished using the '''A^*^-algorithm''' which is a well-known fast pathfinding algorithm (click [http://theory.stanford.edu/~amitp/GameProgramming/ here] for a thorough explanation). For this, \\
 * the agent's current position and its target are added to the **[../agent_preprocessing visibility graph]**, \\\\
 * the shortest path between these two points is calculated using A^*^, \\\\
-* the navigation points are shifted outward from the obstacle corner to a random position along a "gate" (see [wiki:/doc/app/agtpar#corner_gate_start corner_gate_start] and [wiki:/doc/app/agtpar#corner_gate_width corner_gate_width]) to avoid collisions with obstacles or other agents,\\\\
+* the navigation points are shifted outward from the obstacle corner to a random position along a "gate" (see [wiki:/doc/app/agent_parameters#corner_gate_start corner_gate_start] and [wiki:/doc/app/agent_parameters#corner_gate_width corner_gate_width]) to avoid collisions with obstacles or other agents,\\\\
 * pathfinding is run again with each successive pair of navigation points along the path to avoid intersection of path sections with obstacles resulting from the outward shift,\\\\
 * finally, the resulting path is stored in the agent object as a series of intermittent targets.\\
-Each agent calculates the direction toward its next intermittent target during each agent time step. It will accelerate toward those coordinates. Once the agent has come close enough ([wiki:/doc/app/agtpar#dist_to_int_target dist_to_int_target]) to them, the next intermittent target is chosen. When the final target is reached, the agent is deleted.\\\\
+Each agent calculates the direction toward its next intermittent target during each agent time step. It will accelerate toward those coordinates. Once the agent has come close enough ([wiki:/doc/app/agent_parameters#dist_to_int_target dist_to_int_target]) to them, the next intermittent target is chosen. When the final target is reached, the agent is deleted.\\\\
 '''Recalculation''' of an agent's path occurs when\\
-* the agent has deviated too far ([wiki:/doc/app/agtpar#max_dist_from_path max_dist_from_path]) from its current path or
+* the agent has deviated too far ([wiki:/doc/app/agent_parameters#max_dist_from_path max_dist_from_path]) from its current path or
 * the path counter has reached its maximum and the target is not yet reached. This can occur because for the purpose of conservation of memory each agent can store a maximum of 15 intermittent targets.
 }}}