Nonlinear Dynamic Systems for Autonomous Agents Navigation

We present a method for the generation of real-time navigation of dynamic autonomous agents in game environments. The method is based on the use of dynamic systems theory which allows the development of sets of differential equations that exhibit distinct behaviors. The differential equations are a carefully designed set of attractor and repeller fields. Coupled together with a "behavioral" selection of the relevant contributions at each time instant are capable of exhibiting useful steering behaviors in complex environments. To avoid local minima, carefully designed noise terms are added. Using this approach we are able to demonstrate in real time behaviors such as single/multiple target tracking with stationary and moving obstacles.