Preface to Html version
This online document is a rather crudely html'ized version of the original paper. Thus, many of the figures look less than stellar and the typhography may not be the best. If you can, I recommend that you download the original Ms Word 97 format document instead. If you only have Word 6 or Word 95, then you can download a format converter from Microsoft's www site.
Preface
This work is the product of my master’s thesis project, formally performed for the Department of Numerical Analysis and Computing Science (NADA) at the Royal Institute of Technology, Stockholm, Sweden. The practical work has been commissioned by, and performed at, S&T Datakonsulter, Stockholm, Sweden.
The ultimate results of the algorithm research, implementation and testing being done for this project is due to be used as a small part of a larger military troupe simulator in use with the Swedish defense force. In this simulator a number of more or less autonomous units, called ‘actors’, interact with each other and their surroundings according to rules dictated by a knowledge database. In this scenario, an armed vehicle travelling to a given destination, along a pre-planned route of roads, may sometimes be discovered by an enemy. Thus, the necessity arises for the vehicle to autonomously find a new path to its target, avoiding the enemy if possible, perhaps venturing into the terrain and avoiding obstacles along the way. That is the practical focus of this work.
I wish to express my gratitude to all the people at S&T, who has provided me with invaluable help, support and companionship. An honorary mention goes to my supervisors: Prof. Stefan Arnborg at NADA, and Richard Elg at S&T.