Kostas BekrisUniversity of Nevada, Reno

CS 425/625

Interface for Motion PlanningIn Physically Realistic 3D Virtual Worlds

September 22, 2008

Game Engines

Components

Game EngineUser

VisualizationSoftware

Interface

ModelDatabase

Physics-based

Simulation

AI(Motion

Planning)

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

Motion Planning

James KuffnerCMU

Jean Claude LatombeStanford

Industrial Manipulation

Geometric Puzzles

Simulation

Kostas Bekris

Physically Realistic Motion Planning

Geometric Paths are not Sufficient• Lack of Physical Realism

• Cannot be easily followed

Physically Realistic Motion Planning

Trajectory Planning:• Higher-Dimensional Problem• More constrains