Autonomous Virtual Agent Navigation in Virtual Environments
This paper presents a solution for the behavioural
animation of autonomous virtual agent navigation in virtual environments.
We focus on using Dempster-Shafer-s Theory of Evidence
in developing visual sensor for virtual agent. The role of the visual
sensor is to capture the information about the virtual environment
or identifie which part of an obstacle can be seen from the position
of the virtual agent. This information is require for vitual agent to
coordinate navigation in virtual environment. The virual agent uses
fuzzy controller as a navigation system and Fuzzy α - level for
the action selection method. The result clearly demonstrates the path
produced is reasonably smooth even though there is some sharp turn
and also still not diverted too far from the potential shortest path.
This had indicated the benefit of our method, where more reliable
and accurate paths produced during navigation task.
[1] R. P. Darken and J. L. Sibert, "A toolset for navigation in virtual
environments," in Proceedings of the 6th annual ACM symposium
on User interface software and technology, (Atlanta, Georgia, United
States), pp. 157-165, ACM Press, 1993.
[2] T. R. Wan, H. Chen, and R. Earnshaw, "Real-time path planning
for navigation in unknown environment," in Theory and Practice of
Computer Graphics 2003 (TPCG 03), (Birmingham, UK), p. 138, IEEE
Computer Society, 2003.
[3] T. Y. Li, J. M. Lien, S. Y. Chiu, and T. H. Yu, "Automatically generating
virtual guided tours," in -99 Computer Animation Conference, (Geneva,
Switz), p. 99, IEEE, 1999.
[4] S. Bandi and D. Thalmann, "Path finding for human motion in virtual
environments," Computational Geometry: Theory and Applications,
vol. 15, no. 1-3, p. 103, 2000.
[5] P. Chaudhuri, R. Khandekar, D. Sethi, and P. Kalra, "An efficient
central path algorithm for virtual navigation," in International Computer
Graphics (CGI04), (Crete, Greece), p. 188, IEEE, 2004.
[6] M. Rook and A. Kamphuis, "Path finding using tactical information,"
in Eurographics/ACM SIGGRAPH Symposium on Computer Animation
(2005) (K. Anjyo and P. Faloutsos, eds.), (Los Angeles, USA), pp. 18-
19, ACM SIGGRAPH, 2005.
[7] M. Stilman and J. J. Kuffner, "Navigation among movable obstacles:
Real-time reasoning in complex environments," in 4th IEEE-RAS International
Conference on Humanoid Robots, 2004, vol. 1, (Santa Monica,
USA), p. 322, IEEE Inc., 2004.
[8] F. Lamarche and S. Donikian, "Crowd of virtual humans: a new approach
for real time navigation in complex and structured environments,"
Computer Graphics Forum, vol. 23, no. 3, pp. 509-518, 2004.
[9] P. Tozour, "Search space representations," in AI Game Programming
Wisdom 2 (S. Rabin, ed.), USA: Charles River Media Inc., 2003.
[10] Elusive, "Omicron bot," 1998.
[11] B. Salomon, M. Garber, C. L. Ming, and M. Dinesh, "Interactive
navigation in complex environments using path planning," in 2003
Symposium on Interactive 3D graphics, (Monterey, California), pp. 41-
50, ACM Press, 2003.
[12] M. Lozano and J. Molina, "A neural approach to an attentive navigation
for 3D intelligent virtual agents," in 2002 IEEE International Conference
on Systems, Man and Cybernetics, vol. 6, (Hammamet, Tunisia), p. 5,
IEEE, 2002.
[13] J. Velagic, B. Lacevic, and B. Perunicic, "A 3-level autonomous
mobile robot navigation system designed by using reasoning/search
approaches," Robotics and Autonomous Systems, vol. 54, no. 12, p. 989,
2006.
[14] H.-S. Seo, Y. So-Joeng, and O. Kyung-Whan, "Fuzzy reinforcement
function for the intelligent agent to process vague goals," in Annual
Conference of the North American Fuzzy Information Processing Society
- NAFIPS, (Atlanta, GA, USA), p. 29, IEEE, Piscataway, NJ, USA, 2000.
[15] F. Wang, Study of an Adaptive and Multifunctional Computational Behaviour
Generation Model for Virtual Creature. PhD thesis, University
of Edinburgh, 2002.
[16] M. Piaggio, A. Sgorbissa, G. Vercelli, and R. Zaccaria, "Autonomous
robot navigation using a reactive agent," in AI*IA 97: Advances in
Artificial Intelligence, p. 96, 1997.
[17] J. J. Kuffner, Autonomous Agent for Real-Time Animation. PhD thesis,
Stanford University, 1999.
[18] F. Wang and E. McKenzie, "A multi-agent based evolutionary artificial
neural network for general navigation in unknown environments,"
in Third Annual Conference on Autonomous Agents, (Seattle, United
States), pp. 154-159, ACM Press, 1999.
[19] G. Shafer, A Mathematical Theory of Evidence. Princeton, NJ: Princeton
University Press, 1976.
[20] Y.-C. Kim, S.-B. Cho, and S.-R. Oh, "The dempster-shafer approach to
map-building for an autonomous mobile robot with fuzzy controller,"
in 2002 AFSS International Conference on Fuzzy Systems, vol. 2275 of
Lecture Notes in Artificial Intelligence - Advances in Soft Computing,
(Calcutta, India), p. 40, Springer-Verlag, 2002.
[21] B. Kosko, Neural Networks and Fuzzy Systems: A Dynamical Systems
Approach to Machine Intelligence. New Jersey: Prentice-Hall inc., 1992.
[22] J. Jaafar and E. McKenzie, "A reactive architecture for autonomous
agent navigation using fuzzy logic," in Artificial Intelligence and Soft
Computing 2007, (Palma de Mallorca, Spain), pp. 57-62, IASTED,
2007.
[23] J. Jaafar and E. McKenzie, "Behaviour coordination of virtual agent
navigation using fuzzy logic," in International Conference on Fuzzy
Systems (Fuzz-IEEE 2006), (Vancouver, Canada), pp. 1139-1145, IEEE,
2006.
[24] T. J. Ross, Fuzzy Logic with Engineering Application. West Sussex:
John Wiley & Sons, 2 ed., 2004.
[25] L.-X. Wang, A Course on Fuzzy System and Control. London: Prentice-
Hall International Inc., 1997.
[26] P. Pirjanian and H. I. Christensen, "Behavior coordination using
multiple-objective decision making," in SPIE Conference on Intelligent
Systems and Advanced Manufacturing, (Pittsburgh, USA), 1997.
[27] P. Maes, "How to do the right thing," Connection Science Journal,
Special Issue on Hybrid Systems, pp. 291-323, 1989.
[28] C. Huang, A Study on The Fuzzy Ranking and Its Application on The
Decision Support System. PhD thesis, Tamkang University, 1989.
[29] S. Mabuchi, "An approach to the comparison of fuzzy subsets with an
alpha-cut dependent index," IEEE Transactions on Systems, Man and
Cybernetics, vol. 18, no. 2, p. 264, 1988.
[30] Y. Yuan, "Criteria for evaluating fuzzy ranking methods," Fuzzy Sets
and Systems, vol. 43, no. 2, pp. 139-157, 1991.
[31] F. Choobineh and H. Li, "An index for ordering fuzzy numbers," Fuzzy
Sets and Systems, vol. 54, no. 3, p. 287, 1993.
[32] T. Y. Chen and Y. T. Yu, "On the criteria of allocating test cases
under uncertainty," in Fourth Asia-Pacific Software Engineering and
International Computer Science Conference (APSEC-97 / ICSC-97),
(Hong Kong), p. 405, IEEE, 1997.
[33] Y. Cang and W. Danwei, "Novel behavior fusion method for the
navigation of mobile robots," in 2000 IEEE International Conference
on Systems, Man and Cybernetics, vol. 5 of Proceedings of the IEEE
International Conference on Systems, Man and Cybernetics, (Nashville,
USA), p. 3526, IEEE, 2000.
[1] R. P. Darken and J. L. Sibert, "A toolset for navigation in virtual
environments," in Proceedings of the 6th annual ACM symposium
on User interface software and technology, (Atlanta, Georgia, United
States), pp. 157-165, ACM Press, 1993.
[2] T. R. Wan, H. Chen, and R. Earnshaw, "Real-time path planning
for navigation in unknown environment," in Theory and Practice of
Computer Graphics 2003 (TPCG 03), (Birmingham, UK), p. 138, IEEE
Computer Society, 2003.
[3] T. Y. Li, J. M. Lien, S. Y. Chiu, and T. H. Yu, "Automatically generating
virtual guided tours," in -99 Computer Animation Conference, (Geneva,
Switz), p. 99, IEEE, 1999.
[4] S. Bandi and D. Thalmann, "Path finding for human motion in virtual
environments," Computational Geometry: Theory and Applications,
vol. 15, no. 1-3, p. 103, 2000.
[5] P. Chaudhuri, R. Khandekar, D. Sethi, and P. Kalra, "An efficient
central path algorithm for virtual navigation," in International Computer
Graphics (CGI04), (Crete, Greece), p. 188, IEEE, 2004.
[6] M. Rook and A. Kamphuis, "Path finding using tactical information,"
in Eurographics/ACM SIGGRAPH Symposium on Computer Animation
(2005) (K. Anjyo and P. Faloutsos, eds.), (Los Angeles, USA), pp. 18-
19, ACM SIGGRAPH, 2005.
[7] M. Stilman and J. J. Kuffner, "Navigation among movable obstacles:
Real-time reasoning in complex environments," in 4th IEEE-RAS International
Conference on Humanoid Robots, 2004, vol. 1, (Santa Monica,
USA), p. 322, IEEE Inc., 2004.
[8] F. Lamarche and S. Donikian, "Crowd of virtual humans: a new approach
for real time navigation in complex and structured environments,"
Computer Graphics Forum, vol. 23, no. 3, pp. 509-518, 2004.
[9] P. Tozour, "Search space representations," in AI Game Programming
Wisdom 2 (S. Rabin, ed.), USA: Charles River Media Inc., 2003.
[10] Elusive, "Omicron bot," 1998.
[11] B. Salomon, M. Garber, C. L. Ming, and M. Dinesh, "Interactive
navigation in complex environments using path planning," in 2003
Symposium on Interactive 3D graphics, (Monterey, California), pp. 41-
50, ACM Press, 2003.
[12] M. Lozano and J. Molina, "A neural approach to an attentive navigation
for 3D intelligent virtual agents," in 2002 IEEE International Conference
on Systems, Man and Cybernetics, vol. 6, (Hammamet, Tunisia), p. 5,
IEEE, 2002.
[13] J. Velagic, B. Lacevic, and B. Perunicic, "A 3-level autonomous
mobile robot navigation system designed by using reasoning/search
approaches," Robotics and Autonomous Systems, vol. 54, no. 12, p. 989,
2006.
[14] H.-S. Seo, Y. So-Joeng, and O. Kyung-Whan, "Fuzzy reinforcement
function for the intelligent agent to process vague goals," in Annual
Conference of the North American Fuzzy Information Processing Society
- NAFIPS, (Atlanta, GA, USA), p. 29, IEEE, Piscataway, NJ, USA, 2000.
[15] F. Wang, Study of an Adaptive and Multifunctional Computational Behaviour
Generation Model for Virtual Creature. PhD thesis, University
of Edinburgh, 2002.
[16] M. Piaggio, A. Sgorbissa, G. Vercelli, and R. Zaccaria, "Autonomous
robot navigation using a reactive agent," in AI*IA 97: Advances in
Artificial Intelligence, p. 96, 1997.
[17] J. J. Kuffner, Autonomous Agent for Real-Time Animation. PhD thesis,
Stanford University, 1999.
[18] F. Wang and E. McKenzie, "A multi-agent based evolutionary artificial
neural network for general navigation in unknown environments,"
in Third Annual Conference on Autonomous Agents, (Seattle, United
States), pp. 154-159, ACM Press, 1999.
[19] G. Shafer, A Mathematical Theory of Evidence. Princeton, NJ: Princeton
University Press, 1976.
[20] Y.-C. Kim, S.-B. Cho, and S.-R. Oh, "The dempster-shafer approach to
map-building for an autonomous mobile robot with fuzzy controller,"
in 2002 AFSS International Conference on Fuzzy Systems, vol. 2275 of
Lecture Notes in Artificial Intelligence - Advances in Soft Computing,
(Calcutta, India), p. 40, Springer-Verlag, 2002.
[21] B. Kosko, Neural Networks and Fuzzy Systems: A Dynamical Systems
Approach to Machine Intelligence. New Jersey: Prentice-Hall inc., 1992.
[22] J. Jaafar and E. McKenzie, "A reactive architecture for autonomous
agent navigation using fuzzy logic," in Artificial Intelligence and Soft
Computing 2007, (Palma de Mallorca, Spain), pp. 57-62, IASTED,
2007.
[23] J. Jaafar and E. McKenzie, "Behaviour coordination of virtual agent
navigation using fuzzy logic," in International Conference on Fuzzy
Systems (Fuzz-IEEE 2006), (Vancouver, Canada), pp. 1139-1145, IEEE,
2006.
[24] T. J. Ross, Fuzzy Logic with Engineering Application. West Sussex:
John Wiley & Sons, 2 ed., 2004.
[25] L.-X. Wang, A Course on Fuzzy System and Control. London: Prentice-
Hall International Inc., 1997.
[26] P. Pirjanian and H. I. Christensen, "Behavior coordination using
multiple-objective decision making," in SPIE Conference on Intelligent
Systems and Advanced Manufacturing, (Pittsburgh, USA), 1997.
[27] P. Maes, "How to do the right thing," Connection Science Journal,
Special Issue on Hybrid Systems, pp. 291-323, 1989.
[28] C. Huang, A Study on The Fuzzy Ranking and Its Application on The
Decision Support System. PhD thesis, Tamkang University, 1989.
[29] S. Mabuchi, "An approach to the comparison of fuzzy subsets with an
alpha-cut dependent index," IEEE Transactions on Systems, Man and
Cybernetics, vol. 18, no. 2, p. 264, 1988.
[30] Y. Yuan, "Criteria for evaluating fuzzy ranking methods," Fuzzy Sets
and Systems, vol. 43, no. 2, pp. 139-157, 1991.
[31] F. Choobineh and H. Li, "An index for ordering fuzzy numbers," Fuzzy
Sets and Systems, vol. 54, no. 3, p. 287, 1993.
[32] T. Y. Chen and Y. T. Yu, "On the criteria of allocating test cases
under uncertainty," in Fourth Asia-Pacific Software Engineering and
International Computer Science Conference (APSEC-97 / ICSC-97),
(Hong Kong), p. 405, IEEE, 1997.
[33] Y. Cang and W. Danwei, "Novel behavior fusion method for the
navigation of mobile robots," in 2000 IEEE International Conference
on Systems, Man and Cybernetics, vol. 5 of Proceedings of the IEEE
International Conference on Systems, Man and Cybernetics, (Nashville,
USA), p. 3526, IEEE, 2000.
@article{"International Journal of Information, Control and Computer Sciences:63875", author = "Jafreezal Jaafar and Eric McKenzie", title = "Autonomous Virtual Agent Navigation in Virtual Environments", abstract = "This paper presents a solution for the behavioural
animation of autonomous virtual agent navigation in virtual environments.
We focus on using Dempster-Shafer-s Theory of Evidence
in developing visual sensor for virtual agent. The role of the visual
sensor is to capture the information about the virtual environment
or identifie which part of an obstacle can be seen from the position
of the virtual agent. This information is require for vitual agent to
coordinate navigation in virtual environment. The virual agent uses
fuzzy controller as a navigation system and Fuzzy α - level for
the action selection method. The result clearly demonstrates the path
produced is reasonably smooth even though there is some sharp turn
and also still not diverted too far from the potential shortest path.
This had indicated the benefit of our method, where more reliable
and accurate paths produced during navigation task.", keywords = "Agent, Navigation, Demster Shafer, Fuzzy Logic.", volume = "4", number = "1", pages = "178-8", }
