Real-time path planning in emergency using non-uniform safety fields

We present a novel approach to direct virtual evacuees in emergency using non-uniform safety fields. The safety fields uses safety level to describe the danger degrees corresponding to the current situation of their positions. Our method also uses spread potential to generate smooth escape routes. We also combine our method with the most current agent-based collision avoidance algorithm to prevent oscillation. In practice, our algorithm can perform real-time navigation for dozens of evacuees in emergency scenarios.