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VALIDATING AND GENERATING REALISTIC ROUTES FOR INDIVIDUAL HUMAN CHARACTERS IN VIRTUAL URBAN TERRAIN by GREGG THOMAS HANOLD A DISSERTATION Submitted in partial fulfillment of the requirements for the Degree of Doctor of Philosophy in The Department of Industrial and Systems Engineering and Engineering Management to The School of Graduate Studies of The University of Alabama in Huntsville HUNTSVILLE, ALABAMA 2013 ACKNOWLEDGMENTS The work described in this dissertation would not have been possible without the assistance of a number of people who deserve special mention. First, I would like to thank Dr. Mikel D. Petty for his suggestion of the research topic and for his guidance throughout all the stages of the work. Second, I would like to thank Dr. Paul J. Componation and Dr. James J. Swain for their guidance throughout my program of study and formation of my committee. I would also like to thank the other members of my committee, Dr. Phillip A. Farrington and Dr. Sampson Gholston, for their guidance during the initial phases of the dissertation preparation and for their very helpful comments and suggestions, and Dr. Wesley N. Colley for his assistance in mathematically describing the angular characteristics of a route. Finally, I would like to thank Ms. Shannon Flynn and Ms. Narsimha Rekha Vidiyala for their detailed review and editing of this work. I would like to dedicate this work to my wife Kathryn, and children David, Laura and Andrew for pushing me to complete this degree and for sacrificing so much during the process. vi TABLE OF CONTENTS Page List of Figures ......................................................................................................................x List of Tables ................................................................................................................ xviii Chapter 1 INTRODUCTION ...................................................................................................1 1.1 Background .....................................................................................................1 1.2 Statement of the Problem ................................................................................6 1.3 Research Objectives ........................................................................................8 1.4 Definitions.......................................................................................................9 2 REVIEW OF THE LITERATURE .......................................................................11 2.1 Human Behavior Modeling...........................................................................12 2.2 Validating Route Planning Algorithms .........................................................52 2.3 Simulation Environment ...............................................................................72 2.4 Summary .......................................................................................................81 3 METHODOLOGY ................................................................................................83 3.1 Research Goals............................................................................................. 84 3.2 Research Tasks..............................................................................................86 3.3 Protection of Human Subjects ......................................................................88 3.4 Realism Measures .........................................................................................88 3.5 Instrumentation. ............................................................................................88 3.6 Data Analysis. ...............................................................................................93 3.7 Summary ......................................................................................................94 vii 4 SIMULATION ENVIRONMENT ........................................................................95 4.1 Selection of the Simulation Environment .....................................................95 4.2 Game Engine Simulation Environment ........................................................97 4.3 Measuring Realism .....................................................................................118 5 ROUTE REALISM METRICS ...........................................................................123 5.1 Metric Identification ...................................................................................124 5.2 Application of Methodology .......................................................................125 5.3 Data Collection Plan ...................................................................................136 5.4 Metric Identification and Analysis..............................................................140 5.6 Realism Metric Summary ...........................................................................202 6 INCOMPLETE INFORMATION A* ALGORITHM ........................................204 6.1 A* Algorithm ..............................................................................................204 6.2 Incomplete Information A* Algorithm .......................................................205 6.3 Realism Assessment of IIA* Routes...........................................................218 6.4 Summary .....................................................................................................227 7 CONCLUSIONS..................................................................................................228 7.1 Future Work ................................................................................................229 APPENDIX A - CONVERSION PROCEDURE ............................................................232 A.1 Overview .....................................................................................................232 A.2 Terrain Elevation Model .............................................................................232 A.3 Static Mesh Conversion ..............................................................................235 APPENDIX B - IIA* ENABLED POGAMUT2 BOT JAVA SOURCE LISTINGS .....240 viii APPENDIX C – PLANNED ROUTES ...........................................................................269 APPENDIX D – INCOMPLETE INFORMATION A* TURING TEST .......................281 D.1 Turing test briefing .....................................................................................281 REFERENCES ................................................................................................................309 ix LIST OF FIGURES Figure Page 4.1 Pathnodes with UT2004 edges.............................................................................100 4.2 Hexagonal Pathnode Pattern ...............................................................................103 4.3 Grid pattern .........................................................................................................105 4.4 UT2004 America's Army and Ravenshield™ Mods ............................................108 4.5 Pogamut architecture...........................................................................................109 4.6 Metric architecture ..............................................................................................110 4.7 Pogamut2 Netbeans™ IDE ..................................................................................114 4.8 Act Sense loop ......................................................................................................116 4.9 Conceptual layers of a BOT’s behavior...............................................................116 4.10 MonitoringPlayer Class listing ............................................................................120 4.11 MonitoringPlayerBody Class listing....................................................................121 4.12 UnRealED pathnode properties ...........................................................................122 5.1 Map of the McKenna virtual terrain ....................................................................129 5.2 BOT A* route in virtual McKenna .......................................................................130 5.3 Typical routes collected during testing ................................................................132 5.4 Confidence interval of mean CD by category ......................................................134 5.5 Plot of mean and standard deviation of normalized heading change .................135 5.6 Urban Village terrain map...................................................................................137 5.7 Route 2 – Terrains 1 and 2 – Human category H1 with BOT .............................143 5.8 Summary of CD basic statistics ...........................................................................145 5.9 Probability plot individual categories – Kolmogorov-Smirnov...........................146 x 5.10 Probability plot categories 1-4 – Kolmogorov-Smirnov .....................................146 5.11 Boxplot of normalized CD by category ................................................................147 5.12 Wilcoxon Sign Rank Test confidence intervals ....................................................149 5.13 Mann-Whitney Test of human routes ...................................................................151 5.14 CCD – Mean and median by category for movement 0° and 1° of jitter .............156 5.15 Anderson-Darling test of BOT with 0° of jitter ....................................................157 5.16 CCD confidence