A Dynamic Obstacle Avoidance Method Based On Entity Policy

For dynamic obstacle avoidance of CGF entities, there has been much limitation of traditional algorithms, such as the complexity of process, the unnatural avoidance path and the communication restriction of entities. In this paper, we propose a new method for obstacle avoidance. We classify the situations and redesign obstacle avoidance algorithm for the entity in each situation, and then integrate entity into formation. The results show that our avoidance behaviors are more natural.