Path Planning with World Semantics

Specification

The aim of this project is to alter the geometrically optimised path generated by the standard A* search algorithm to take into account world semantics in real time. Bandi and Cavazza proposed a method using a modified version of an epsilon admissible variant of the A* algorithm to ensure agents take a path giving them full visibility of doors in the virtual environment at all times.

We use it for a more generic case in preventing the agent from going through regions in an environment which it may consider dangerous, such as territory occupied by stronger enemy units. The idea is to get A* to consider looking for paths around the danger area but still consider it if alternative paths are too long. We intend to use a real-time version of A* so that the path planning procedure and expansion of nodes can be observed instead of observing only the final path generated.

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