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Voronoi-based Path Planning based on Visibility and Kill/Death Ratio Tactical Component

P. 129-140.
Makarov I., Pavel Polyakov, Roman Karpichev.

We present an obstacle avoiding path planning method based on a Voronoi diagram adjusted with tactical component in a first-person shooter video game. We use a visibility measure to aggregate information on cover positions in offline and online game modes. In order to incorporate online learning based on frag map, we introduce a path finding algorithm minimizing the probability to walk along the path through dangerous zones, and on the contrary, choosing the best positions to shoot when observing a map level. Several implementations of collision free path finding are compared under efficiency, team goal achievements, and path length measures.